An overactuated aerial robot based on cooperative quadrotors attached through passive universal joints: Modeling, control and 6-DoF trajectory tracking

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Robotics and Autonomous Systems Pub Date : 2024-07-24 DOI:10.1016/j.robot.2024.104761
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Abstract

This article discusses a novel aerial robot architecture that overcomes the underactuation of conventional multirotor systems without adding dedicated rotor tilting actuators. The proposed system is based on four quadrotors cooperatively carrying a central body to which they are attached through passive universal joints. While conventional parallel axis multirotors are underactuated, the proposed mechanism makes the system overactuated, enabling independent position and orientation control of the main body. This implies that the payload can be carried in the minimum drag orientation, it enables take-off and landing on inclined surfaces and it provides thrust-vectoring capabilities to the system, leading to high control authority. A detailed dynamic model is derived making use of Lagrangian formalism and a hierarchical control law based on such model is proposed to stabilize the system. This control law is designed to ensure good tracking while minimizing power consumption. The proposed control law and the capabilities of the architecture are evaluated in simulation and in outdoor experimental flights, where the aerial robot shows autonomous tracking of the six degrees of freedom (DoF) of the main body, an inherently unfeasible maneuver for conventional underactuated multirotors.

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基于通过无源万向节连接的合作四旋翼的过驱动空中机器人:建模、控制和 6-DoF 轨迹跟踪
本文讨论了一种新型空中机器人结构,该结构克服了传统多旋翼系统动力不足的问题,而无需增加专用的旋翼倾斜致动器。拟议的系统以四个四旋翼机器人为基础,它们通过被动万向节合作承载一个中心机身。传统的平行轴多旋翼飞行器是欠驱动的,而所提出的机制使系统成为超驱动的,从而能够对主体进行独立的位置和方向控制。这意味着有效载荷可以在阻力最小的方位进行运载,可以在倾斜表面起飞和着陆,并为系统提供推力矢量能力,从而实现高控制权。利用拉格朗日形式主义推导出了一个详细的动态模型,并根据该模型提出了一个分层控制法来稳定系统。该控制法则旨在确保良好的跟踪性能,同时最大限度地降低功耗。在模拟和室外实验飞行中,对所提出的控制法则和架构能力进行了评估,结果表明空中机器人能够自主跟踪主体的六个自由度(DoF),这对于传统的动力不足的多旋翼飞行器来说是不可行的。
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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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