A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation

TL;DR

This paper introduces a novel multirotor design with passive joints and minimal actuators, demonstrating controllability and stability for omnidirectional flight through control theory and simulations.

Contribution

It presents a new multirotor architecture with passive joints and minimal actuators, along with a control strategy ensuring controllability and stability at any orientation.

Findings

Achieves omnidirectionality with minimal actuators

Proves controllability using input-output linearization

Validates control strategy with simulations

Abstract

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF's, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations.