Modeling and simulation of quadrotor UAV with tilting rotors

Abstract

Quadrotors have recently been drawing greater research and commercial attention to the point that they have become one of the most popular types of unmanned aerial vehicles. Their applications vary from entertainment to transportation, commercial and even military applications. In this paper, a novel quadrotor design is proposed. The design decouples all motions by allowing each rotor to tilt in two directions about the quadrotor fixed frame. This modification improves the stability and safety of the quadrotor and gives it more manoeuvrability and robustness. The mathematical model of the proposed system is carried out using Newton-Euler technique. Several flight scenarios are also simulated under a simple PID controller to illustrate the superiority over conventional quadrotor designs.

A Review on Vertical Take-Off and Landing (VTOL) Tilt-Rotor and Tilt Wing Unmanned Aerial Vehicles (UAVs)

“…is paper shows that the mechanism gives a big boost to manoeuvrability and agility of the quadcopter and enhances the fault tolerance of the UAV, and it can even work on two opposite rotors too in control. us, giving it an edge over other designs in terms of efficiency, fail-safe system, and robustness [29].…”

Nuevo vehículo aéreo autónomo estable por construcción: configuración y modelo dinámico

“…Esto lleva al desarrollo de sistemas completamente actuados o sobreactuados, mejorando estabilidad y maniobrabilidad, pero sacrificando la simplicidad de las estrategias de control. Este enfoque ha impulsado el desarrollo de nuevos vehículos aéreos como los descritos en (Escareño et al, 2006a), (Mohamed and Lanzon, 2012), (Escareño et al, 2008b), (Sanchez et al, 2008), (Flores and Lozano, 2013), (Elfeky et al, 2016), (Liu et al, 2017), (Yuksek et al, 2016), (Lin and Supsukbaworn, 2017) o (Şenkul and Altuğ, 2016), entre otros. En estas propuestas, el sistema de propulsión se orienta dependiendo del modo de vuelo deseado.…”

A proportional derivative sliding mode control for an overactuated quadcopter

“…Elfeky et al. 11,12 proposed a novel PID-controlled quadcopter by allowing each propeller to tilt around two-axis. Şenkul et al.…”

“…Motivated by further improvement, dos Santos Fernandes 10 built a quadcopter with two-axis tilting property in two of its four rotors. Elfeky et al 11,12 proposed a novel PID-controlled quadcopter by allowing each propeller to tilt around two-axis. S°enkul et al 2,13 proposed a quadcopter with twoaxis tilting mechanism for each rotor and design a PID controller to stabilize the proposed quadcopter.…”