%0 Conference Proceedings
%F C34
%A Ryll, M.
%A H. Bülthoff, H.
%A Robuffo Giordano, P.
%T {Modeling and Control of a Quadrotor UAV with Tilting Propellers}
%B IEEE Int. Conf. on Robotics and Automation
%P 4606-4613
%C St. Paul, MN
%X Standard quadrotor UAVs possess a limited mobility because of their inherent underactuation, i.e., availability of 4 independent control inputs (the 4 propeller spinning velocities) vs. the 6 dofs parameterizing the quadrotor position/ orientation in space. As a consequence, the quadrotor pose cannot track an arbitrary trajectory over time (e.g., it can hover on the spot only when horizontal). In this paper, we propose a novel actuation concept in which the quadrotor propellers are allowed to tilt about their axes w.r.t. the main quadrotor body. This introduces an additional set of 4 control inputs which provides full actuation to the quadrotor position/orientation. After deriving the dynamical model of the proposed quadrotor, we formally discuss its controllability properties and propose a nonlinear trajectory tracking controller based on dynamic feedback linearization techniques. The soundness of our approach is validated by means of simulation results
%U http://rainbow-doc.irisa.fr/pdf/paolo/ICRA12_1539_FI_new.pdf
%U http://dx.doi.org/10.1109/ICRA.2012.6225129
%8 May
%D 2012