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Design and Quaternion-Based Attitude Control of the Omnicopter MAV Using Feedback Linearization

[+] Author Affiliations
Yangbo Long, Sean Lyttle, Nicholas Pagano, David J. Cappelleri

Stevens Institute of Technology, Hoboken, NJ

Paper No. DETC2012-70485, pp. 1413-1421; 9 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


In this paper, we present the design of the Omnicopter, a micro aerial vehicle (MAV) with two central counter-rotating coaxial propellers for thrust and yaw control and three perimeter-mounted variable angle ducted fans to control roll and pitch. First, a dynamic model of the robot is established using the Euler-Lagrange formalism. Next, we focus on the attitude control for a special operating case of the Omnicopter with fixed vertical positions of the surrounding ducted fans. A nonlinear model is represented in state space using the quaternion and angular velocity as state variables, which simplifies the system dynamics. Based on this model, a feedback linearization controller is developed, which renders the system linear and controllable from an input-output point of view. The zero dynamics problem is also analyzed. Finally, simulations are carried out and the results illustrate that the attitude stabilization task for the Omnicopter is achieved.

Copyright © 2012 by ASME
Topics: Design , Feedback



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