Hexacopter maneuverability capability: An optimal control approach

This paper shows a detailed modeling process for a hexacopter, taking as a control variables, the force and torques actuating on the vehicle. It also shows the hexacopter equilibrium manifold, with some numerical results that evidence the symmetry along the x and y axis. Finally, a nonlinear optimal control problem is formulated in order to see the hexacopter maneuverability capabilities, showing clearly the difficulty of motion on the x and y axis, due to the lack of actuators on those axis. Some numerical results of trajectories that the hexacopter is able to follow are shown.