Modeling and control of a quadrotor UAV with tilting propellers

Markus Ryll, Heinrich Bulthoff, Paolo Robuffo Giordano

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

104 Citations (Scopus)

Abstract

Standard quadrotor UAVs possess a limited mobility because of their inherent underactuation, i.e., availability of 4 independent control inputs (the 4 propeller spinning velocities) vs. the 6 dofs parameterizing the quadrotor position/ orientation in space. As a consequence, the quadrotor pose cannot track an arbitrary trajectory over time (e.g., it can hover on the spot only when horizontal). In this paper, we propose a novel actuation concept in which the quadrotor propellers are allowed to tilt about their axes w.r.t. the main quadrotor body. This introduces an additional set of 4 control inputs which provides full actuation to the quadrotor position/orientation. After deriving the dynamical model of the proposed quadrotor, we formally discuss its controllability properties and propose a nonlinear trajectory tracking controller based on dynamic feedback linearization techniques. The soundness of our approach is validated by means of simulation results.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4606-4613
Number of pages8
DOIs
Publication statusPublished - 2012 Aug 6

Fingerprint

Propellers
Unmanned aerial vehicles (UAV)
Trajectories
Feedback linearization
Controllability
Availability
Controllers

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Ryll, M., Bulthoff, H., & Giordano, P. R. (2012). Modeling and control of a quadrotor UAV with tilting propellers. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4606-4613). [6225129] https://doi.org/10.1109/ICRA.2012.6225129

Modeling and control of a quadrotor UAV with tilting propellers. / Ryll, Markus; Bulthoff, Heinrich; Giordano, Paolo Robuffo.

Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 4606-4613 6225129.

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

Ryll, M, Bulthoff, H & Giordano, PR 2012, Modeling and control of a quadrotor UAV with tilting propellers. in Proceedings - IEEE International Conference on Robotics and Automation., 6225129, pp. 4606-4613. https://doi.org/10.1109/ICRA.2012.6225129
Ryll M, Bulthoff H, Giordano PR. Modeling and control of a quadrotor UAV with tilting propellers. In Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 4606-4613. 6225129 https://doi.org/10.1109/ICRA.2012.6225129
Ryll, Markus ; Bulthoff, Heinrich ; Giordano, Paolo Robuffo. / Modeling and control of a quadrotor UAV with tilting propellers. Proceedings - IEEE International Conference on Robotics and Automation. 2012. pp. 4606-4613
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