Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method

Bingguo Mu; Pakpong Chirarattananon

doi:10.1109/AIM.2019.8868853

Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method

Department of Biomedical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

10 Citations (Scopus)

Abstract

This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional quadrotors). The implication is that they can be commanded to follow desired trajectory setpoints in 3D space. We propose a numerical strategy based on the collocation method to facilitate the trajectory generation. This enables convenient computation of the nominal robot's attitude and control inputs. The proposed methods are numerically verified for three multirotor robots with different dynamics. These include a tricopter with a tilting propeller, and a quadrotor and a hexacopter with unparalleled propellers.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	IEEE
Pages	1365-1370
ISBN (Electronic)	978-1-7281-2493-3
ISBN (Print)	978-1-7281-2494-0
DOIs	https://doi.org/10.1109/AIM.2019.8868853
Publication status	Published - Jul 2019
Event	2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019) - Hong Kong Science Park, Hong Kong, China Duration: 8 Jul 2019 → 12 Jul 2019 https://www.aim2019.org/

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Publisher	IEEE
ISSN (Print)	2159-6247
ISSN (Electronic)	2159-6255

Conference

Conference	2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019)
Place	Hong Kong, China
Period	8/07/19 → 12/07/19
Internet address	https://www.aim2019.org/

RGC Funding Information

RGC-funded

Access Output

10.1109/AIM.2019.8868853

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

Mu, B., & Chirarattananon, P. (2019). Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1365-1370). Article 8868853 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). IEEE. https://doi.org/10.1109/AIM.2019.8868853

@inproceedings{d43b1b751c5b40069cda1465908d3470,

title = "Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method",

abstract = "This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional quadrotors). The implication is that they can be commanded to follow desired trajectory setpoints in 3D space. We propose a numerical strategy based on the collocation method to facilitate the trajectory generation. This enables convenient computation of the nominal robot's attitude and control inputs. The proposed methods are numerically verified for three multirotor robots with different dynamics. These include a tricopter with a tilting propeller, and a quadrotor and a hexacopter with unparalleled propellers.",

author = "Bingguo Mu and Pakpong Chirarattananon",

year = "2019",

month = jul,

doi = "10.1109/AIM.2019.8868853",

language = "English",

isbn = "978-1-7281-2494-0",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "IEEE",

pages = "1365--1370",

booktitle = "Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

address = "United States",

note = "2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019) ; Conference date: 08-07-2019 Through 12-07-2019",

url = "https://www.aim2019.org/",

}

Mu, B & Chirarattananon, P 2019, Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method. in Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 8868853, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, IEEE, pp. 1365-1370, 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019), Hong Kong, China, 8/07/19. https://doi.org/10.1109/AIM.2019.8868853

Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method. / Mu, Bingguo ; Chirarattananon, Pakpong.
Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 2019. p. 1365-1370 8868853 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method

AU - Mu, Bingguo

AU - Chirarattananon, Pakpong

PY - 2019/7

Y1 - 2019/7

N2 - This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional quadrotors). The implication is that they can be commanded to follow desired trajectory setpoints in 3D space. We propose a numerical strategy based on the collocation method to facilitate the trajectory generation. This enables convenient computation of the nominal robot's attitude and control inputs. The proposed methods are numerically verified for three multirotor robots with different dynamics. These include a tricopter with a tilting propeller, and a quadrotor and a hexacopter with unparalleled propellers.

AB - This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional quadrotors). The implication is that they can be commanded to follow desired trajectory setpoints in 3D space. We propose a numerical strategy based on the collocation method to facilitate the trajectory generation. This enables convenient computation of the nominal robot's attitude and control inputs. The proposed methods are numerically verified for three multirotor robots with different dynamics. These include a tricopter with a tilting propeller, and a quadrotor and a hexacopter with unparalleled propellers.

UR - https://www.scopus.com/pages/publications/85074293757

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85074293757&origin=recordpage

U2 - 10.1109/AIM.2019.8868853

DO - 10.1109/AIM.2019.8868853

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 978-1-7281-2494-0

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1365

EP - 1370

BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

PB - IEEE

T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019)

Y2 - 8 July 2019 through 12 July 2019

ER -

Mu B , Chirarattananon P. Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE. 2019. p. 1365-1370. 8868853. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2019.8868853

Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method

Abstract

Publication series

Conference

RGC Funding Information

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

GRF: Universal Flying Objects (UFOs): Modular Multicopter System for Flight of Arbitrary Objects

Cite this

Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method

Abstract

Publication series

Conference

RGC Funding Information

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Projects

GRF: Universal Flying Objects (UFOs): Modular Multicopter System for Flight of Arbitrary Objects

Cite this