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

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)

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Detail(s)

Original languageEnglish
Title of host publication2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019)
PublisherIEEE
Pages1365-1370
ISBN (Electronic)978-1-7281-2493-3
ISBN (Print)978-1-7281-2494-0
Publication statusPublished - Jul 2019

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherIEEE
ISSN (Print)2159-6247
ISSN (Electronic)2159-6255

Conference

Title2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
LocationHong Kong Science Park
PlaceHong Kong
Period8 - 12 July 2019

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.

Citation Format(s)

Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method. / Mu, Bingguo; Chirarattananon, Pakpong.

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2019). 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: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)