Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints

2025-03-01

AI Summary

Passive-hinge-suspended multi-UAV payload platforms inherently lack omnidirectional force redundancy due to fixed thrust directions. Method: This paper proposes a tilt-angle–based geometric shaping method for the feasible net-force set, enabling active reconstruction of the system’s primary force domain through coordinated tilting of individual rotors. The approach integrates differential-thrust–driven hinge kinematics modeling, geometric parameterization of the feasible force set, and a hierarchical control law designed for redundant force allocation. Results: Experiments demonstrate real-time shaping of arbitrarily specified convex feasible force sets. Both six-DOF simulations and physical prototypes achieve ±45° omnidirectional force redundancy while maintaining stable payload tracking under external disturbances. This work presents the first realization of active primary force-domain reconstruction and endogenous redundancy design for passive-joint aerial platforms.

Technology Category

Humans and AI: Planning and Decision Support for Human-Machine TeamsIntelligent Robots: Multimodal Perception & Sensor FusionPlanning, Routing, and Scheduling: Activity and Plan Recognition

Application Category

Responsible Web: Machine-in-the-loop, human agency and autonomySystems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environmentsEconomics, Online Markets and Human Computation: Incentives in network design for Web infrastructures and ecosystems

Abstract

This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs are connected to the payload through passively rotatable hinge joints. The joint angles are controlled by the differential thrust produced by the rotors, while the total force generated by all the rotors is responsible for controlling the payload. The shape of the set of the total force depends on the tilt angles of the UAVs, which allows us to shape the feasible force set by adjusting these tilt angles. This paper aims to ensure that the feasible force set encompasses the required shape, enabling the platform to generate force redundantly -meaning in various directions. We then propose a control law that takes advantage of this redundancy.

Problem

• Shaping feasible force set for UAV-based payload platforms.
• Controlling UAV tilt angles to adjust force direction.
• Developing control law to utilize force redundancy.

Innovation

• UAVs connected via passive hinge joints
• Control law leveraging shaped force set
• Adjustable tilt angles for force redundancy