Control of VTOL Vehicles with Thrust-direction Tilting

摘要: An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation vehicle's position and attitude is developed. The particularity difficulty problem are epitomized by existence maximal thrust-tilting angle which forbids complete decoupled in all situations. This here addressed via formalism primary secondary objectives extending solution previously derived fixed case. proposed design also illustrated simulation results involving quadrotor UAV propellers axes pointing same monitored tilted direction.