Modeling and control of a quadrotor UAV with tilting propellers

@article{Ryll2012ModelingAC,
  title={Modeling and control of a quadrotor UAV with tilting propellers},
  author={Markus Ryll and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={4606-4613}
}
Standard quadrotor UAVs possess a limited mobility because of their inherent underactuation, i.e., availability of 4 independent control inputs (the 4 propeller spinning velocities) vs. the 6 dofs parameterizing the quadrotor position/ orientation in space. As a consequence, the quadrotor pose cannot track an arbitrary trajectory over time (e.g., it can hover on the spot only when horizontal). In this paper, we propose a novel actuation concept in which the quadrotor propellers are allowed to… CONTINUE READING
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