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.

翻译：本文首次介绍了一种新型变形多旋翼无人机（UAV）的设计、建模与控制，我们将其命名为OmniMorph。其变形能力允许根据任务需求选择优化能耗同时保证所需机动性的构型。例如，在标准点对点位移中可采用最节能的单向推力（UDT）构型；全驱动（FA）与全向（OD）构型则可用于完整位姿跟踪（如恒定姿态的水平运动与原地全向旋转），以及全六维力交互控制与六维扰动抑制。变形通过单个伺服电机实现，可最大程度降低重量、成本与维护复杂度。本文研究了驱动特性，并提出了一种在性能与控制代价间折衷的最优控制器，并通过真实感仿真进行了验证。