Optimal PID Control of a Novel Multirotor with Inclined Rotors and Spatial Configuration

This work introduces an innovative multirotor UAV featuring a spatial configuration and inclined rotors to address under-actuation challenges. The modeling of the multirotor is based on the Newton-Euler formalism, accounting for structural asymmetry and non-coincident center of gravity with the body frame origin. In addition, a Proportional Integral Derivative (PID) is used to control the considered drone, and optimal control gains are selected via a Particle Swarm Optimization (PSO) meta-heuristic algorithm. The simulation results for attitude change with hovering and helical trajectory tracking without changing orientations demonstrate the efficiency of the proposed design and controller. The paper concludes by discussing potential enhancements in mechanical design and control strategies.