Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor

Markus Ryll 1 Davide Bicego 1 Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : We present FAST-Hex, a novel UAV concept which is able to smoothly change its configuration from underactuated to fully actuated by using only one additional motor that tilts all propellers at the same time. FAST-Hex can adapt to the task at hand by finely tuning its configuration from the efficient (but underactuated) flight (typical of coplanar multi– rotor platforms) to the full-pose-tracking (but less efficient) flight, which is attainable by non-coplanar multi-rotors. We also introduce a novel full-pose geometric controller for generic multi-rotors (not only the FAST-Hex) that outperforms classical inverse dynamics approaches. The controller receives as input any reference pose in R 3 ×SO(3) (3D position + 3D orientation). Exact tracking is achieved if the reference pose is feasible with respect to the propeller spinning rate saturations. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the positional part. The new controller is tested with the FAST-Hex but can be used for many other multi-rotor platforms: underactuated, slightly fully-actuated and completely fully-actuated.
Document type :
Conference papers
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01348538
Contributor : Antonio Franchi <>
Submitted on : Thursday, July 28, 2016 - 4:02:24 PM
Last modification on : Friday, June 14, 2019 - 6:31:13 PM
Long-term archiving on : Saturday, October 29, 2016 - 11:19:56 AM

File

2016j-RylBicFra-preprint.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01348538, version 1

Citation

Markus Ryll, Davide Bicego, Antonio Franchi. Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor. IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ) 2016, Oct 2016, Daejeon, South Korea. ⟨hal-01348538⟩

Share

Metrics

Record views

334

Files downloads

406