التفاصيل البيبلوغرافية
| العنوان: |
Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight |
| المؤلفون: |
Allenspach, Mike, Bodie, Karen, Brunner, Maximilian, Rinsoz, Luca, Taylor, Zachary, Kamel, Mina, Siegwart, Roland, Nieto, Juan |
| المصدر: |
The International Journal of Robotics Research ; volume 39, issue 10-11, page 1305-1325 ; ISSN 0278-3649 1741-3176 |
| بيانات النشر: |
SAGE Publications |
| سنة النشر: |
2020 |
| الوصف: |
Omnidirectional micro-aerial vehicles (MAVs) are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six-degree-of-freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system’s capabilities. |
| نوع الوثيقة: |
article in journal/newspaper |
| اللغة: |
English |
| DOI: |
10.1177/0278364920943654 |
| الإتاحة: |
https://doi.org/10.1177/0278364920943654Test |
| حقوق: |
http://journals.sagepub.com/page/policies/text-and-data-mining-licenseTest |
| رقم الانضمام: |
edsbas.9D335589 |
| قاعدة البيانات: |
BASE |
