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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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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-B784-6 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-8F1B-1
Genre: Conference Paper

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 Creators:
Ryll, M1, 2, Author              
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P1, 2, Author              
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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 Abstract: 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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 Dates: 2012-05
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/ICRA.2012.6225129
BibTex Citekey: RyllBR2012_2
 Degree: -

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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
Start-/End Date: 2012-05-14 - 2012-05-18

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Title: 2012 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4606 - 4613 Identifier: ISBN: 978-1-4673-1405-3