Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs

• URL: http://arxiv.org/abs/2604.05998v1
• Date: Tue, 07 Apr 2026 15:24:09 GMT
• Title: Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs
• Abstract summary: This work proposes a lightweight control framework for star-shaped cant-tilting hexarotor UAVs performing interaction tasks.<n> computation uses an offline-computed look-up table of zero-moment force polytopes to identify feasible cant angles for a desired control force.<n>Results show a significant reduction in time, together with improved pose-tracking performance and competitive actuation efficiency.
• Score: 0.6999740786886536
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle selection should be optimized to ensure high performance while avoiding abrupt variations and preserving real-world feasibility. In this context, this work proposes a lightweight control framework for star-shaped interdependent cant-tilting hexarotor UAVs performing interaction tasks. The method uses an offline-computed look-up table of zero-moment force polytopes to identify feasible cant angles for a desired control force and select the optimal one by balancing efficiency and smoothness. The framework is integrated with a geometric full-pose controller and validated through Monte Carlo simulations in MATLAB/Simulink and compared against a baseline strategy. The results show a significant reduction in computation time, together with improved pose-tracking performance and competitive actuation efficiency. A final physics-based simulation of a complete wall inspection task in Simscape further confirms the feasibility of the proposed strategy in interacting scenarios.

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