Fully Actuated Multirotor UAV Control Design and Implementation

In this paper, custom control system design and implementation for fully actuated multirotor unmanned aerial vehicle (UAV) are presented. For the purpose of control design, a mathematical model of the aircraft is shown. A fully actuated hexarotor configuration with passively tilted rotors has six independent control variables, therefore every degree of freedom can be directly controlled with six independent control variables. The feasibility of a control design is shown and tested with conventional control techniques, linear quadratic regulator (LQR), and cascaded position and orientation controllers. The performance of the considered controllers for a fully actuated multirotor configuration is illustrated by simulation examples and by experimental tests.