Aerodynamic Promptness of Tilting-Propeller Multirotors
This work develops a geometric theory of aerodynamic promptness for multirotor platforms whose propeller directions depend on a smooth orientation-mechanism configuration.
ProofPaper ↗
Key points
- The actuator state consists of the actual signed propeller speeds and the mechanism configuration, and the nonlinear actuator map retains both the signed-quadratic propeller law and the configuration-dependent thrust directions.
- Constant direction maps represent fixed propellers, while shared dependence on mechanism coordinates represents mechanically coupled tilts.
- A Riemannian metric on the product actuator manifold compares propeller accelerations and orientation-mechanism rates through physically interpretable scales.
- The construction is related intrinsically to dynamic feedback linearization and specialized to the independently tilting, radially arranged Holocopter and Voliro architectures, clarifying how their established allocation and rank constructions fit within the same actuator-manifold geometry.
Sources (1)
- [1]Aerodynamic Promptness of Tilting-Propeller MultirotorsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 12, 10:20 AM
This work develops a geometric theory of aerodynamic promptness for multirotor platforms whose propeller directions depend on a smooth orientation-mechanism configuration.
The actuator state consists of the actual signed propeller speeds and the mechanism configuration, and the nonlinear actuator map retains both the signed-quadratic propeller law and the configuration-dependent thrust directions.
Extractive summary: sentences quoted from the sources.