Modeling and Hovering Control of 5-DoF Tilt-Birotor Robot

Abstract

This paper explores design, modeling and hovering control of a new under-actuated 5-DoF (degree of freedom) tilt-birotor robot. Specifically, the robot has an assembled inverted pendulum to be an extra actuating input in addition to a pair of tilt wings. Hence, it has a 5-DoF actuator control input vector: two motor thrusts, two tilt angles, and one tunable pendulum angle. We show the model analysis in terms of the Newton-Euler formulation and establish a key equation between the model control inputs and the actuator inputs. Based on that, we are able to achieve the hovering control task using an inner-outer-loop design. We also illustrate the results by numerical and experimental tests.