Pengkang Yu's research while affiliated with University of California, Los Angeles and other places

Publications (8)

Preprint
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This paper presents the control and experiment of a novel multirotor aerial platform, which is capable of full actuation for six Degree of Freedom (DoF) motions. The platform is actuated by a number of tilting-thrust modules, each consisting of a regular quadcopter and a mechanically passive hinge. The platform in this paper has four such actuator...
Article
Full-text available
Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and...
Preprint
Full-text available
Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and...
Article
Full-text available
Multirotor copters with full six Degree of Free-dom(DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition(FD), which provides a robust least-square solution and is easy to imp...
Preprint
Full-text available
Conventional multirotors have coupling between position and attitude control due to underactuation in dynamics, and thus can not track six degree-of-freedom (DoF) trajectories in space. Previous works proposed fully actuated multirotors with modifications to mechanical structure to provide varying orientations of thrust forces without changing the...
Preprint
Full-text available
Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to im...
Article
Full-text available
Fully-actuated multi-rotor aerial platforms are receiving increasing research interests for the capability of six degree-of-freedom (DOF) motions such as hovering at non-horizontal attitude angles. Existing real world hardware and experiments have demonstrated such capability for a limited range of angles. This paper presents an aerial platform tha...

Citations

... This is called the fast auxiliary input as it has much faster dynamics (zero's order for any given , feedthrough) compared with the in (5) (second order dynamics as need to be controlled by (8) to generate desired ). This property has been found of great significance in our following works for the tracking of highlydynamic reference signals [33] and flight recovery under certain actuator failures [34,35]. On the other hand, C1 does not have auxiliary inputs according to (9) and (10). ...
... However, the limited range of the tensioned cables or spherical joints used to connect quadcopters and the tool frame significantly constrains the achievable attitudes. Our group has proposed modular vectored thrust units made of quadcopters and passive mechanisms without angle range limits or constraints for two realizations, one DoF hinge [28,29] or two DoF gimbal [30,31,32]. These modular vectored thrust units overcome the constraints of the limited orientations between the quadcopters and the main frame in [25,26,27], and enable creating new multirotor aerial platforms for unique capabilities and performance. ...
... However, the limited range of the tensioned cables or spherical joints used to connect quadcopters and the tool frame significantly constrains the achievable attitudes. Our group has proposed modular vectored thrust units made of quadcopters and passive mechanisms without angle range limits or constraints for two realizations, one DoF hinge [28,29] or two DoF gimbal [30,31,32]. These modular vectored thrust units overcome the constraints of the limited orientations between the quadcopters and the main frame in [25,26,27], and enable creating new multirotor aerial platforms for unique capabilities and performance. ...
... However, the limited range of the tensioned cables or spherical joints used to connect quadcopters and the tool frame significantly constrains the achievable attitudes. Our group has proposed modular vectored thrust units made of quadcopters and passive mechanisms without angle range limits or constraints for two realizations, one DoF hinge [28,29] or two DoF gimbal [30,31,32]. These modular vectored thrust units overcome the constraints of the limited orientations between the quadcopters and the main frame in [25,26,27], and enable creating new multirotor aerial platforms for unique capabilities and performance. ...