QuadPlus : design, modeling, and receding horizon-based control of a hyperdynamic quadrotor

• Main Authors: Singh, Karanjot, Mehndiratta, Mohit, Feroskhan, Mir
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering; Engineering::Aeronautical engineering::Propellers; Overactuated Quadrotor; Bi-Axial Propeller Tilting; Thrust Vectoring; Model Predictive Control
• Online Access: https://hdl.handle.net/10356/154760
• Institution: Nanyang Technological University

The maneuverability of standard quadrotors with coplanar propellers is limited by their inherent underactuation. To overcome this challenge, in-flight, active propeller tilting has been widely investigated in the literature. However, biaxial propeller tilting that renders extensive thrust vectoring...