Precise Feedback Linearization Control for Trajectory Tracking of a Fully-Actuated Hexarotor with Tilted Fixed Rotors

In this paper, we describe a novel fully-actuated hexarotor with tilted fixed rotors and its controller for trajectory tracking and preparing for aerial contact-based inspection operations. Unlike conventional quadcopters or hexarotors, this fully-actuated hexarotor has the ability to move in any direction, making it suitable as a flying platform for aerial contact-based inspection robots. We model the dynamics of the hexarotor using the Newton-Euler equations, and design various attitude generation methods and a control algorithm for different scenarios. To validate the feasibility of the algorithm, we conduct simulation experiments using MATLAB and Simulink to evaluate its performance. We conduct trajectory tracking experiments, where the hexarotor is able to effectively move to the desired target points and effectively track different desired trajectories. The experimental results demonstrate the effectiveness and accuracy of the proposed control algorithm for the fully-actuated hexarotor.