TY - GEN
T1 - Computed Torque Control for an Aerial Robot Equipped with Two Coaxial Rotors Having a 2-DOF Tilt Mechanism
AU - Xu, Xiongshi
AU - Watanabe, Keigo
AU - Nagai, Isaku
N1 - Publisher Copyright:
© 2020 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - 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.
AB - 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.
KW - Coaxial rotor
KW - Computed torque control
KW - Control allocation problem
KW - Tilt mechanism
UR - http://www.scopus.com/inward/record.url?scp=85096511946&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85096511946&partnerID=8YFLogxK
U2 - 10.1109/ICMA49215.2020.9233520
DO - 10.1109/ICMA49215.2020.9233520
M3 - Conference contribution
AN - SCOPUS:85096511946
T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
SP - 926
EP - 931
BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Y2 - 13 October 2020 through 16 October 2020
ER -