FAST-Hex—A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
FAST-Hex—A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation
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FAST-Hex——变形六旋翼：设计、机械实现、控制和实验验证
DOI：
10.1109/tmech.2021.3099197
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
A. Franchi
中科院分区：
文献类型：
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作者：
Markus Ryll;Davide Bicego;M. Giurato;M. Lovera;A. Franchi
我们推出了 FAST-Hex，这是一种微型空中六旋翼平台，只需一个额外的控制输入（即同步倾斜所有螺旋桨的电机）即可从欠驱动配置无缝过渡到完全驱动配置。 FAST-Hex 在更高效但驱动不足的共线多旋翼和效率较低但完整姿态跟踪（通过非共线多旋翼实现）之间调整其配置。在现有最小输入可配置微型飞行器工作的基础上，我们主要强调三个方面：机械设计、运动控制和实验验证。具体来说，我们提出了 FAST-Hex 的轻量级机械结构，该结构允许仅使用一个额外的输入来实现在广阔的状态空间中的可配置性和完全驱动。运动控制器接收 $\mathbb {R}^3\times \mathrm{SO}(3)$ （3D 位置 + 3D 方向）中的任何参考姿势作为输入。如果参考位姿对于执行器约束是可行的，则可以实现完整位姿跟踪。在不可行的情况下，在线生成新的可行的期望轨迹，优先考虑位置跟踪而不是方向跟踪。最后，我们展示了大量实验结果，对 FAST-Hex 控制的各个方面进行了遮蔽。
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an underactuated to a fully actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but underactuated, collinear multirotors, and the less efficient but full pose tracking, which is attained by noncollinear multirotors. On the basis of prior work on minimal input configurable micro aerial vehicle, we mainly stress three aspects: Mechanical design, motion control, and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in $\mathbb {R}^3\times \mathrm{SO}(3)$ (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility, a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally, we present a large set of experimental results shading light on all aspects of the control of the FAST-Hex.
DOI：
10.1109/iros.2016.7759271
发表时间：
2016-10
期刊：
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
--
作者：
Markus Ryll;Davide Bicego;A. Franchi
通讯作者：
Markus Ryll;Davide Bicego;A. Franchi