Title :
Modeling and control of a quadrotor UAV with tilting propellers
Author :
Ryll, Markus ; Bülthoff, Heinrich H. ; Giordano, Paolo Robuffo
Author_Institution :
Max Planck Inst. for Biol. Cybern., Tubingen, Germany
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.
Keywords :
aircraft control; autonomous aerial vehicles; controllability; feedback; helicopters; linearisation techniques; nonlinear control systems; propellers; trajectory control; actuation concept; dynamic feedback linearization technique; nonlinear trajectory tracking controller; propeller spinning velocity; quadrotor UAV; quadrotor orientation; quadrotor position; tilting propeller; Aerodynamics; Jacobian matrices; Mathematical model; Propellers; Spinning; Trajectory; Vectors;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225129