Omnidirectional micro-aerial vehicles (MAVs) are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six-degree-of-freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system’s capabilities.

中文翻译：

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一种高效全向飞行的倾转旋翼微型飞行器的设计与优化控制

全向微型飞行器 (MAV) 是一个不断发展的研究领域，在空中交互和不受约束的观察方面具有明显的优势。虽然已经独立开发了具有完整姿态全向性和高悬停效率的系统，但迄今为止尚未展示将两者结合的强大系统。本文介绍了一种新型全向飞行器的设计和优化控制，该飞行器可以在任何方向施加扳手，同时保持高效的飞行配置。系统设计的动机是形态设计优化的结果。导出了一个六自由度最优控制器，其执行器分配方法实现了任务优先化，并且对奇点具有鲁棒性。飞行实验展示并验证了系统的能力。