Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers

Overview & Synopsis

Mobility of a hexarotor UAV in its standard configuration is limited, since all the propeller force vectors are parallel and they achieve only 4 DoF actuation, similar, e.g., to quadrotors. As a consequence, the hexarotor pose cannot track an arbitrary trajectory over time. In this paper, we consider a different hexarotor architecture where propellers are tilted, without the need of any additional hardware. In this way, the hexarotor possess a 6 DoF actuation which allows to independently reach positions and orientations in free space and to be able to exert forces on the environment to resist any wrench for aerial manipulation tasks. After deriving the dynamical model of the proposed hexarotor, we discuss the controllability and the tilt angle optimization to reduce the control effort. An exact feedback linearization and decoupling control law is proposed based on the input-output mapping, considering the Jacobian and task acceleration, for non-linear trajectory tracking. The robustness of our approach is validated by simulation results.