Control of an Omnidirectional UAV for Transportation and Manipulation Tasks

This paper presents a motion control scheme for new concept of omnidirectional aerial vehicle transportation and manipulation tasks. The considered platform is novel quadrotor with the capability providing multi-directional thrust by adding an actuated gimbal mechanism in charge modifying orientation frame on which four rotors are mounted. above mechanical design, differently from other unmanned vehicles (UAVs) tilted propellers, avoids internal forces energy dissipation due to non-parallel propellers’ axes. proposed controller based hierarchical two-loop scheme. external loop computes force be applied reference values additional joints, while inner joint torques moment multirotor. In order make system robust respect loads, compensation contact introduced exploiting estimate provided momentum observer. stability proven via Lyapunov arguments. Finally, two simulation case studies prove UAV track 6-DoFs trajectory both free during task involving grasping unknown object.