Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
arXiv:2305.16871 · doi:10.1007/s10846-024-02054-x
Abstract
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers' mutual aerodynamic interference.
arXiv commentThis version of the article has been accepted for publication, after peer review. But is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record of this article is published in Journal of Intelligent & Robotic Systems and is available online at https://doi.org/10.1007/s10846-024-02054-x
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