Complete dynamic modeling, control and optimization for an over-actuated MAV

This paper presents an original configuration of a micro aerial vehicle (MAV), the Omnicopter. Two central counter-rotating coaxial propellers provide a major part of lift force, and three perimeter-mounted tiltable ducted fans are used to supplement the lift force, provide lateral forces and adjust its attitude. Different from traditional underactuated MAVs, the presence of the tilt-rotor mechanism, composed of three ducted fans and three servo motors, on the Omnicopter makes it over-actuated. The characteristic of over-actuation enables the Omnicopter´s position dynamics to be decoupled from its attitude dynamics. Based on a complete description of its dynamic model derived using the Newton-Euler motion equations, we propose attitude and position controllers and control allocation for the Omnicopter MAV. Simulation and experimental results are shown to demonstrate its performance.