A novel actuation concept for a multi rotor UAV

This paper introduces a new strategy to improve the performance and reliability of multi-rotor vehicles. The strategy uses a dual axes tilting propeller in order to generate control actions. The mechanisms of actuation are: gyroscopic torques, thrust vectoring and differential thrusting. A realisation of the new concept is detailed in this paper. The model of the actuators is also described, including the rigid body equations of the propellers and the motors and servomotors dynamic response. A conventional control system is presented implementing a PD and a pseudoinverse control allocator to stabilise the vehicle. The tests show that the vehicle is faster than a conventional counterpart and that it can resist the failure of two rotors. The results suggest that higher inertia propellers can lead to further substantial improvements in performance.