This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers’ mutual aerodynamic interference.

本文首次介绍了一种新型变形多旋翼无人机 (UAV)（我们称之为 OmniMorph）的设计、建模和控制。变形能力允许选择优化能耗的配置，同时确保所需任务所需的可操作性。例如，在标准点对点位移期间，可以使用最节能的单向推力（UDT）配置。全致动（FA）和全向（OD）配置可以替代地用于全姿态跟踪，例如恒定姿态水平运动和现场完全旋转，以及用于全扳手6D交互控制和6D干扰抑制。使用单个伺服电机即可实现变形，从而可以最大程度地减少重量、成本和维护复杂性。研究了驱动特性，并提出了一种在性能和控制效果之间进行折衷的最佳控制器，并在实际模拟中进行了验证。对原型机进行了初步测试，以评估螺旋桨的相互空气动力干扰。