Development and Evaluation of a Quadrotor UAV Equipped with Dual-axis Tilting Mechanisms
Taizo TODA, Satoko Abiko · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
A quad tilt rotor UAV is known as one of advanced systems of the conventional multirotor UAV. The quad tilt rotor UAV enables independent control of position and attitude, and flight in a 90-degree attitude state. However, the quad tilt rotor UAV has the drawbacks of thrust loss and difficult flight at certain attitude. As a solution to these issues, this paper proposes a quadrotor UAV with dual-axis tilting mechanisms which rotate thrust direction in two axes. This paper describes the developed airframe and its control law, and verifies the performance of the developed UAV by numerical simulation and flight experiments.