Trajectory Tracking Control of Octocopter with a Wind Disturbance

In this paper, we propose a position tracking control method for multirotor helicopters under a wind disturbance. The only way of conventional multicopters to move in horizontal direction is to change the posture of the body. Using tilted rotors, it is expected that the problem of conventional multicopters can be overcome. Therefore, in this paper, main purpose is to investigate usefulness of tilted rotors.