A novel modification for a quadrotor design

Conventional quadrotor UAVs have crucial underactuation limitations. This appears in the coupling between the roll angle and the movement in y-direction, and between the pitch angle and the movement in x-direction. The quadrotor capability of hovering with either roll or pitch angle is restricted due to these limitations. In this paper, a novel design modification is proposed in order to increase the quadrotor degrees of freedom. Four additional rotations for the propellers grant overactuated system. It could be used to make either an oriented hovering without any translational movements or make horizontal movement with zero inclination angle, as followed in this work. A PID controller is used for the quadrotor control. Simulation results show the validity of the proposed control scheme.