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  A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control

Odelga, M., Stegagno, P., & Bülthoff, H. (2016). A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control. In IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016) (pp. 306-311). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A84-2 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A85-1
Genre: Conference Paper

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Odelga, M1, 2, 3, Author              
Stegagno, P1, 2, 3, Author              
Bülthoff, HH2, 3, 4, Author              
Affiliations:
1Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
4Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              

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 Abstract: Equipped with four actuators, quadrotor Unmanned Aerial Vehicles belong to the family of underactuated systems. The lateral motion of such platforms is strongly coupled with their orientation and consequently it is not possible to track an arbitrary 6D trajectory in space. In this paper, we propose a novel quadrotor design in which the tilt angles of the propellers with respect to the quadrotor body are being simultaneously controlled with two additional actuators by employing the parallelogram principle. Since the velocity of the controlled tilt angles of the propellers does not appear directly in the derived dynamic model, the system cannot be static feedback linearized. Nevertheless, the system is linearizable at a higher differential order, leading to a dynamic feedback linearization controller. Simulations confirm the theoretical findings, highlighting the improved motion capabilities with respect to standard quadrotors.

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 Dates: 2016-07
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/AIM.2016.7576784
BibTex Citekey: OdelgaSB2016
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Title: IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016)
Place of Event: Banff, Alberta, Canada
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Title: IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 306 - 311 Identifier: ISBN: 978-1-5090-2065-2