Modeling and simulation of quadrotor UAV with tilting rotors

摘要

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.