Preliminary design, modeling and control of a fully actuated quadrotor UAV

In this paper a preliminary study on a new concept of fully actuated Unmanned Aerial Vehicle (UAV), named ODQuad (OmniDirectional Quadrotor), is presented. By exploiting two additional actuators, the designed UAV can simultaneously modify the tilting angle of all the propellers, in such a way to decouple position and attitude motions. This solution, differently from other fully actuated UAVs with tilted propellers, avoids internal forces and energy dissipation, due to non-parallel propellers' axes. A preliminary mechanical design and the kinematic and dynamic models are developed. Moreover, a motion control scheme, based on a hierarchical two loop, has been designed. Simulations are provided in order to show the feasibility of the concept and the effectiveness of the control scheme.