@inproceedings{c04f72d799ba4b7abe06282fd39eb564,
title = "Modeling and control of an overactuated aerial vehicle with four tiltable quadrotors attached by means of passive universal joints",
abstract = "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.",
keywords = "Propellers, Torque, Rotors, Actuators, Aerodynamics, Complexity theory, Propellers, Torque, Rotors, Actuators, Aerodynamics, Complexity theory",
author = "Imanol Iriarte and Erlantz Otaola and David Culla and Inaki Iglesias and Joseba Lasa and Basilio Sierra",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 ; Conference date: 01-09-2020 Through 04-09-2020",
year = "2020",
month = oct,
doi = "10.1109/ICUAS48674.2020.9213848",
language = "English",
isbn = "978-1-7281-4279-1",
series = "2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020",
publisher = "IEEE",
pages = "1748--1756",
booktitle = "unknown",
}