FAST-Hex—A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation

Ryll Markus,Bicego Davide,Giurato Mattia,Lovera Marco,Franchi Antonio

IEEE/ASME Transactions on Mechatronics（2022）

引用 14|浏览49

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摘要

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an underactuated to a fully actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but underactuated, collinear multirotors, and the less efficient but full pose tracking, which is attained by noncollinear multirotors. On the basis of prior work on minimal input configurable micro aerial vehicle, we mainly stress three aspects: Mechanical design, motion control, and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in

$\mathbb {R}^3\times \mathrm{SO}(3)$

(3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility, a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally, we present a large set of experimental results shading light on all aspects of the control of the FAST-Hex.

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关键词

Electromechanical systems,robots,unmanned aerial vehicles

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