Modelling and control of oblique cross quadrotors vehicle

Oblique cross quadrotors vehicle is a variant of quadrotors, which is more suitable for take photos in the air compared to the conventional cross-shaped quadrotors and the rotary-wing state of Quad Tilt Rotor(QTR) have to take this flight mode. A lot of research work have done about the conventional cross-shaped quadrotors but little about oblique cross quadrotors vehicle. The mathematics model of the oblique cross quadrotors vehicle was built up according Newton-Euler formalism and an experimental identification of dynamic parameters is presented. After that, PD was applied to design the control laws. The simulation results demonstrate that the designed control laws can accurately track the given trajectory and have a good performance.