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Article Dans Une Revue IEEE/ASME Transactions on Mechatronics Année : 2022

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

Résumé

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated 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 multi-rotors, and the less efficient but fullpose-tracking, which is attained by non-collinear multi-rotors. 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 R 3 ×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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Dates et versions

hal-03271812 , version 1 (27-06-2021)

Identifiants

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Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi. FAST-Hex -A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation. IEEE/ASME Transactions on Mechatronics, 2022, 27 (3), pp.1244 - 1255. ⟨10.1109/TMECH.2021.3099197⟩. ⟨hal-03271812⟩
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