In this paper, a novel omnidirectional unmanned flying vehicle (UAV) is presented. Staring from the well known quadrotor model, some features has been introduced in order to create an over-actuated quadrotor able to fly performing maneuvers that are typically not feasible for UAVs. An inverse dynamics control scheme is proposed to control the modified flying vehicle, with particular attention to the asset control. The stability and versatility of the solution has been proven by means of numerical simulations.

Dynamic Model and Control of an Over-actuated Quadrotor UAV

FALCONI, RICCARDO;MELCHIORRI, CLAUDIO
2012

Abstract

In this paper, a novel omnidirectional unmanned flying vehicle (UAV) is presented. Staring from the well known quadrotor model, some features has been introduced in order to create an over-actuated quadrotor able to fly performing maneuvers that are typically not feasible for UAVs. An inverse dynamics control scheme is proposed to control the modified flying vehicle, with particular attention to the asset control. The stability and versatility of the solution has been proven by means of numerical simulations.
Proc. 10th IFAC Symposium on Robot Control
192
197
R. Falconi; C. Melchiorri
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/127780
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