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This paper introduces for the first time the design, modelling, and controlof a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call theOmniMorph. The morphing ability allows the selection of the configuration thatoptimizes energy consumption while ensuring the needed maneuverability for therequired 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 usedfor full pose tracking, such as, e.g., constant attitude horizontal motions andfull rotations on the spot, and for full wrench 6D interaction control and 6Ddisturbance rejection. Morphing is obtained using a single servomotor, allowingpossible minimization of weight, costs, and maintenance complexity. Theactuation properties are studied, and an optimal controller that compromisesbetween performance and control effort is proposed and validated in realisticsimulations.

Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV