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

Marcin Odelga; Paolo Stegagno; Heinrich Bulthoff

doi:10.1109/AIM.2016.7576784

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 proceeding › Conference contribution

26 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 language	English
Title of host publication	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	306-311
Number of pages	6
Volume	2016-September
ISBN (Electronic)	9781509020652
DOIs	https://doi.org/10.1109/AIM.2016.7576784
Publication status	Published - 2016 Sept 26
Externally published	Yes
Event	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: 2016 Jul 12 → 2016 Jul 15

Other

Other	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Country/Territory	Canada
City	Banff
Period	16/7/12 → 16/7/15

ASJC Scopus subject areas

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

Access to Document

10.1109/AIM.2016.7576784

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). Article 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 proceeding › Conference 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

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

Abstract

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ASJC Scopus subject areas

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