Pitch control of an Oblique Active Tilting bi-rotor

This article presents the design and pitch control of an Oblique Active Tiling (OAT) fixed-pitch bi-rotor. The oblique arms of the bi-rotor allow faster pitch response due to gyroscopic torque, compared to other vertical take-off designs. The effect of the design parameters on flight are analyzed to provide general guidelines for the design of OAT bi-rotors. The non-linear model of a bi-rotor is simulated in Matlab and a simplified controller is implemented on a small scale model.