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research-article

Twisting and Tilting Rotors for High-Efficiency, Thrust-Vectored Quadrotors

[+] Author and Article Information
Matthew J. Gerber

PhD Candidate, Mechatronics and Controls Laboratory, Department of Aerospace and Mechanical Engineering, University of California, Los Angeles, California 90035
gerber211@ucla.edu

Tsu-Chin Tsao

Professor, Mechatronics and Controls Laboratory, Department of Aerospace and Mechanical Engineering, University of California, Los Angeles, California 90035
ttsao@ucla.edu

1Corresponding author.

ASME doi:10.1115/1.4041261 History: Received March 01, 2018; Revised August 15, 2018

Abstract

A mechanism consisting of twisting and tilting joints is introduced to provide omnidirectional thrust-vectoring capabilities to a quadrotor system. This mechanism eliminates mechanical constraints and kinematic singularities to provide full directional authority to all four individual thrust vectors. The presented system fully decouples position and attitude dynamics to overcome the intrinsic maneuverability limitations of traditional multirotors while maximizing thrust efficiency over its entire configuration space. This paper presents a mathematical model of the system, introduces a control method for position and attitude tracking, and presents numerical simulation results that demonstrate the system benefits.

Copyright (c) 2018 by ASME
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