Computed Torque Control for an Aerial Robot Equipped with Two Coaxial Rotors Having a 2-DOF Tilt Mechanism

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Since all of the rotors' configuration in conventional drone are fixed to the fuselage, the attitude of the drone needs to be tilted during revel flight motion in the application of human transportation, delivery of goods, etc. It is also difficult for such drones to maintain a stable flight in the proximity inspections of bridges, buildings, etc. Therefore, we have already proposed an aerial robot that has two tilted coaxial rotors so as to realize multifunctional locomotion modes, where some excrements have been conducted to verify the omnidirectional locomotion modes for the robot to traveling on the ground. In this research, we present a computed torque control strategy for the robot, because a model of the robot can be simplified to a fully actuated model, which has six actuator inputs and six generalized coordinate outputs. Thus, a control allocation problem of the system is solvable, where a coordinate transformation is used to simply the allocation problem. Some simulations are demonstrated to verify the effectiveness of the computed torque control strategy for the robot.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages926-931
Number of pages6
ISBN (Electronic)9781728164151
DOIs
Publication statusPublished - Oct 13 2020
Event17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China
Duration: Oct 13 2020Oct 16 2020

Publication series

Name2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Country/TerritoryChina
CityBeijing
Period10/13/2010/16/20

Keywords

  • Coaxial rotor
  • Computed torque control
  • Control allocation problem
  • Tilt mechanism

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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