TY  - Journal Article
AU  - Iriarte, Imanol
AU  - Otaola, Erlantz
AU  - Culla, David
AU  - Iglesias, Inaki
AU  - Lasa, Joseba
AU  - Sierra, Basilio
TI  - Modeling and control of an overactuated aerial vehicle with four tiltable quadrotors attached by means of passive universal joints
PY  - 2020
PB  - IEEE
AB  - We present a novel overactuated aerial vehicle based on four quadrotors connected to an airframe by means of passive universal joints. The proposed architecture allows to independently control the six degrees of freedom of the airframe without having fixed propellers at inefficient configurations or making use of dedicated rotor tilting actuators. After deriving the dynamic equations that describe its motion, we propose a linear control strategy that is able to successfully decouple rotation and translation, relying exclusively on on-board sensors. A prototype is built and preliminary experimental results demonstrate that the concept is feasible.Video: https://youtu.be/9ASP3FyhCJw.
SN  - 2373-6720
UR  - http://hdl.handle.net/11556/1001
DX  - 10.1109/ICUAS48674.2020.9213848
ER  -