Modeling and control of a quadrotor UAV with tilting propellers

Markus Ryll, Heinrich H. Bülthoff, Paolo Robuffo Giordano

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

112 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 publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4606-4613
Number of pages8
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

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

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