Design, Modeling and Adaptive Robust Control of a Spatial Symmetric Omni-Directional Aerial Vehicle

The increasing popularity of Unmanned Aerial Vehicles has led to heightened demand for their ability to interact with the environment along with the large flight envelopes. In this letter, we propose a new spatial symmetric fully actuated multirotor (FAM) that is capable of achieving fast, smooth attitude and position motion on the entire special Euclidean group. In addition, this FAM features fixed-tilt bidirectional coaxial rotors compared with the existing literature, enabling large, high-frequency 6D interaction outputs. Furthermore, to address the synchronization control issue of the 6D motion under unknown disturbances, an improved adaptive, time-synchronized, multivariable super-twisting control (ATSMST) is proposed to ensure robustness while still being simple for implementation. Experiments validate its capability of achieving decoupled 6D motion control and precise interaction tracking. Videos of the results are provided to support the experimental findings.