Modeling and Validation of a Single-Axis Tilting Quadrotor with Enhanced Attitude Control

Standard quadrotors are inherently limited by their underactuated nature, typically offering only 4 degrees of freedom (DOF) through their four rotors. While sufficient for general applications, however this design falls short in scenarios requiring full attitude control, improved wind resistance, aerial manipulation and other specialized capabilities. This paper presents the design, implementation, and evaluation of a novel fully actuated 6-DOF quadrotor featuring a single-axis tilting mechanism. Our proposed design incorporates four rotors and two tilt motors, enabling complete position and attitude control. We derive a comprehensive dynamic model of the quadrotor and discuss the control parameters crucial for stable flight. The paper details the practical implementation of this design on actual hardware, demonstrating its feasibility beyond theoretical concepts. Furthermore, we showcase the quadrotor's enhanced performance through experimental results. These results highlight the advantages of our fully actuated design over traditional underactuated quadrotors in applications requiring precise aerial manipulation and resilience to external disturbances