Design and Full-Pose Control of a Ducted Fan Aerial Robot with Dual-Axis Gimbaled Thrust-Vectoring Mechanisms
Journal
2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Start Page
1-6
Date Issued
2025-07-14
Author(s)
Abstract
Conventional quadrotor vehicles are underactuated systems that are inherently limited in their attitude control capabilities. Their exposed propellers are susceptible to external disturbances and pose safety risks. This paper presents the design of an over-actuated aerial robot that integrates ducted fans and dual-axis gimbals, employing a thrust-vectoring approach to enable agile six-degree-of-freedom (6-DoF) trajectory tracking. The system dynamics are modeled, and the attainable force space (AFS) is approximated to analyze feasible control inputs. A full-pose controller is developed, incorporating an attitude planner, force projection, and a Lyapunov-based control law. An exact bundled redistributed control allocation (EBRCA) algorithm is applied to generate precise thrust and gimbal angle commands. Simulations conducted in square and circular trajectory tracking scenarios demonstrate the superior control performance and stability of this thrust-vectoring method for an over-actuated ducted fan aerial robot.
SDGs
Publisher
IEEE
Type
conference paper