Design of a fully actuated passively tilted multirotor UAV with decoupling control system

Unmanned aerial vehicles (UAV) can potentially carry out a wide range of tasks and operate in hazardous conditions. Some tasks require complex and precise aircraft movements in the presence of external disturbances. In this paper, a design of non-flat multirotor configuration (NFH6) is presented. Through dynamic model, it is shown that flat multirotor configurations share inherent underactuated condition. By adequate change of the tilt angle around rotor arm, control allocation scheme (CAS) matrix reaches rank 6 which means that multirotor is able to achieve full controllability. Decoupling control system design, based on sliding mode control laws, is presented. Simulation results show satisfying tracking performance of the proposed control system design for a presented NFH6 platform.