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  Modeling and Control of a Quadrotor UAV with Tilting Propellers

Ryll, M., Bülthoff, H., & Robuffo Giordano, P. (2012). Modeling and Control of a Quadrotor UAV with Tilting Propellers. In 2012 IEEE International Conference on Robotics and Automation (pp. 4606-4613). Piscataway, NJ, USA: IEEE.

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Ryll, M1, 2, Autor           
Bülthoff, HH1, 2, Autor           
Robuffo Giordano, P1, 2, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Zusammenfassung: 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.

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 Datum: 2012-05
 Publikationsstatus: Erschienen
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 Identifikatoren: DOI: 10.1109/ICRA.2012.6225129
BibTex Citekey: RyllBR2012_2
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Titel: IEEE International Conference on Robotics and Automation (ICRA 2012)
Veranstaltungsort: St. Paul, MN, USA
Start-/Enddatum: 2012-05-14 - 2012-05-18

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Titel: 2012 IEEE International Conference on Robotics and Automation
Genre der Quelle: Konferenzband
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Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 4606 - 4613 Identifikator: ISBN: 978-1-4673-1405-3