Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor
Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor
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DOI：
10.1109/iros.2016.7759271
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发表时间：
2016-10
期刊：
影响因子：
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通讯作者：
Markus Ryll;Davide Bicego;A. Franchi
中科院分区：
文献类型：
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作者：
Markus Ryll;Davide Bicego;A. Franchi
我们推出了 FAST-Hex，这是一种新颖的无人机概念，只需使用一个同时倾斜所有螺旋桨的附加电机，即可将其配置从欠驱动平滑地更改为完全驱动。 FAST-Hex 可以通过微调其配置来适应手头的任务，从高效（但欠驱动）飞行（典型的共面多旋翼平台）到全姿态跟踪（但效率较低）飞行（可通过非共面多旋翼实现）。我们还为通用多旋翼（不仅是 FAST-Hex）引入了一种新颖的全位姿几何控制器，其性能优于经典的逆动力学方法。控制器接收 ℝ3×SO(3) （3D 位置 + 3D 方向）中的任何参考姿势作为输入。如果参考位姿对于螺旋桨旋转速率饱和度是可行的，则可以实现精确跟踪。如果不可行，则会在线生成新的可行的期望轨迹，并优先考虑位置部分。新控制器经过 FAST-Hex 测试，但可用于许多其他多旋翼平台：欠驱动、轻微完全驱动和完全完全驱动。
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 ℝ3×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.