A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control

Marcin Odelga, Paolo Stegagno, Heinrich Bulthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Equipped with four actuators, quadrotor Unmanned Aerial Vehicles belong to the family of underactuated systems. The lateral motion of such platforms is strongly coupled with their orientation and consequently it is not possible to track an arbitrary 6D trajectory in space. In this paper, we propose a novel quadrotor design in which the tilt angles of the propellers with respect to the quadrotor body are being simultaneously controlled with two additional actuators by employing the parallelogram principle. Since the velocity of the controlled tilt angles of the propellers does not appear directly in the derived dynamic model, the system cannot be static feedback linearized. Nevertheless, the system is linearizable at a higher differential order, leading to a dynamic feedback linearization controller. Simulations confirm the theoretical findings, highlighting the improved motion capabilities with respect to standard quadrotors.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages306-311
Number of pages6
Volume2016-September
ISBN (Electronic)9781509020652
DOIs
Publication statusPublished - 2016 Sep 26
Externally publishedYes
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 2016 Jul 122016 Jul 15

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
CountryCanada
CityBanff
Period16/7/1216/7/15

Fingerprint

Propellers
Unmanned aerial vehicles (UAV)
Actuators
Feedback linearization
Dynamic models
Trajectories
Feedback
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Odelga, M., Stegagno, P., & Bulthoff, H. (2016). A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (Vol. 2016-September, pp. 306-311). [7576784] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576784

A fully actuated quadrotor UAV with a propeller tilting mechanism : Modeling and control. / Odelga, Marcin; Stegagno, Paolo; Bulthoff, Heinrich.

2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September Institute of Electrical and Electronics Engineers Inc., 2016. p. 306-311 7576784.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Odelga, M, Stegagno, P & Bulthoff, H 2016, A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control. in 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. vol. 2016-September, 7576784, Institute of Electrical and Electronics Engineers Inc., pp. 306-311, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Banff, Canada, 16/7/12. https://doi.org/10.1109/AIM.2016.7576784
Odelga M, Stegagno P, Bulthoff H. A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September. Institute of Electrical and Electronics Engineers Inc. 2016. p. 306-311. 7576784 https://doi.org/10.1109/AIM.2016.7576784
Odelga, Marcin ; Stegagno, Paolo ; Bulthoff, Heinrich. / A fully actuated quadrotor UAV with a propeller tilting mechanism : Modeling and control. 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Vol. 2016-September Institute of Electrical and Electronics Engineers Inc., 2016. pp. 306-311
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