Fully Actuated Multirotor UAVs: A Literature Review
Ramy Rashad, Jelmer Goerres, Ronald G.K.M. Aarts, Johan B. C. Engelen, Stefano Stramigioli
Abstract
In the last decade, the aerial robotics community has witnessed an increased interest in fully actuated multirotor unmanned aerial vehicles (UAVs) that have more capabilities than conventional underactuated multirotors. This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date. The work includes a systematic derivation of the control-allocation matrix for all of the concepts as well as a discussion of the different quantitative criteria used for optimizing UAV designs.
Topics & Concepts
MultirotorUnderactuationWrenchRoboticsControl engineeringAerodynamicsDroneArtificial intelligenceComputer scienceQuadcopterEngineeringRobotAerospace engineeringMechanical engineeringBiologyGeneticsAdaptive Control of Nonlinear SystemsDistributed Control Multi-Agent SystemsRobotic Path Planning Algorithms