Conference
Energy Optimal Control Allocation in a Redundantly Actuated Omnidirectional UAV
Abstract
This paper presents a novel actuation model and control allocation strategy for a redundantly-actuated multirotor unmanned aerial vehicle (UAV), referred to as the omnicopter. With an unconventional configuration, the omnicopter’s eight propellers are able to produce all the six components of net force/torque, with two degrees of actuation redundancy. This enables the vehicle to execute motion trajectories unattainable with conventional …
Authors
Dyer E; Sirouspour S; Jafarinasab M
Volume
00
Pagination
pp. 5316-5322
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
May 24, 2019
DOI
10.1109/icra.2019.8793549
Name of conference
2019 International Conference on Robotics and Automation (ICRA)