A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter

TL;DR

This paper introduces a novel fully-actuated hexacopter with a dual-frame passive tilting structure, enabling independent control of motion and attitude, leading to improved efficiency and endurance, validated through dynamic modeling and simulation.

Contribution

It presents a new dual-frame passive tilting structure for fully-actuated hexacopters and a control strategy that enhances flight efficiency and stability.

Findings

Higher flight efficiency and endurance demonstrated.

Effective control strategy validated through simulation.

Superior motion capabilities confirmed.

Abstract

This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated UAVs, it liminates internal force cancellation, resulting in higher flight efficiency and endurance under equivalent payload conditions. Based on the dynamic model of fully-actuated hexacopter, a full-actuation controller is designed to achieve efficient and stable control. Finally, simulation is conducted, validating the superior fully-actuated motion capability of fully-actuated hexacopter and the effectiveness of the proposed control strategy.