Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms connect the motor bases to the central frame, forming a parallelogram structure that ensures the propellers maintain a constant orientation during morphing. In its stretched state, the quadrotor resembles a conventional design, and when contracted, it functions as a gripper with grasping components emerging from the motor bases. To mitigate disturbances during transforming and grasping payloads, we employ an adaptive sliding mode controller with a disturbance observer. After fully folded, the quadrotor frame shrinks to 67% of its original size. The control performance and versatility of the morphing quadrotor are validated through real-world experiments.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
cc-DRL: a Convex Combined Deep Reinforcement Learning Flight Control Design for a Morphing Quadrotor
In comparison to common quadrotors, the shape change of morphing quadrotors endows it with a more better flight performance but also results in more complex flight dynamics. Generally, it is extremely difficult or even i…
Deep Reinforcement LearningModeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadrotor. The proposed modeling preserves the p…
Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception
This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle avoidance cost function for nonlinear mode…
Collision AvoidanceMotion PlanningRobust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle Under Colored Noises
Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles (UAVs). Nowadays, people actively use quadrotor UAVs in essential missions such as search and rescue, c…
Online Adaptation for Flying Quadrotors in Tight Formations
The task of flying in tight formations is challenging for teams of quadrotors because the complex aerodynamic wake interactions can destabilize individual team members as well as the team. Furthermore, these aerodynamic …