Control and Control Allocation for Bimodal, Rotary Wing, Rolling-Flying Vehicles

This paper presents a robust method for controlling the terrestrial motion of a bimodal multirotor vehicle that can roll and fly. Factors influencing the mobility and controllability of the vehicle are explored and compared to strictly flying multirotor vehicles; the differences motivate novel control and control allocation strategies that leverage the non-standard configuration of the bimodal design. A fifth-order dynamic model of the vehicle subject to kinematic rolling constraints is the basis for a nonlinear, multi-input, multi-output, sliding mode controller. Constrained optimization techniques are used to develop a novel control allocation strategy that minimizes power consumption while rolling. Simulations of the vehicle under closed-loop control are presented. A functional hardware embodiment of the vehicle is constructed onto which the controllers and control allocation algorithm are deployed. Experimental data of the vehicle under closed-loop control demonstrate good performance and robustness to parameter uncertainty. Data collected also demonstrate that the control allocation algorithm correctly determines a thrust-minimizing solution in real-time.

Automated summary

This paper presents a robust method for controlling the terrestrial motion of a bimodal multirotor vehicle that can roll and fly, demonstrating good performance and robustness under closed-loop control and showcasing a novel control allocation strategy that minimizes power consumption. The study explores factors influencing the mobility and controllability of the vehicle, comparing it to strictly flying multirotor vehicles and developing unique control and control allocation strategies based on its non-standard configuration. Experimental data collected also show the algorithm's ability to determine a thrust-minimizing solution in real-time.