A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter
Fuente:
arXiv
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| Autores principales: | , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866915626733273088 |
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| author | Liu, Jiajun Zhu, Yimin Liu, Xiaorui Cao, Mingye Li, Mingchao Zhang, Lixian |
| author_facet | Liu, Jiajun Zhu, Yimin Liu, Xiaorui Cao, Mingye Li, Mingchao Zhang, Lixian |
| contents | This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated UAVs, it liminates internal force cancellation, resulting in higher flight efficiency and endurance under equivalent payload conditions. Based on the dynamic model of fully-actuated hexacopter, a full-actuation controller is designed to achieve efficient and stable control. Finally, simulation is conducted, validating the superior fully-actuated motion capability of fully-actuated hexacopter and the effectiveness of the proposed control strategy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_15225 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter Liu, Jiajun Zhu, Yimin Liu, Xiaorui Cao, Mingye Li, Mingchao Zhang, Lixian Robotics This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated UAVs, it liminates internal force cancellation, resulting in higher flight efficiency and endurance under equivalent payload conditions. Based on the dynamic model of fully-actuated hexacopter, a full-actuation controller is designed to achieve efficient and stable control. Finally, simulation is conducted, validating the superior fully-actuated motion capability of fully-actuated hexacopter and the effectiveness of the proposed control strategy. |
| title | A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.15225 |