Adaptive Control for a Tilted-Motors Hexacopter UAS Flying on a Perturbed Environment

This manuscript presents the modeling and control for a tilted-motors hexacopter unmanned aircraft system, which is subject to external perturbations. A tilt angle for each rotor on the rotorcraft is considered allowing a fully-actuated system, capable to exert horizontal forces. Given the robustness properties and the management of control effort, the controller design is based on adaptive sliding mode technique providing stabilization and tracking of desired trajectories under a perturbed environment. Finally, numerical simulations show the feasibility and advantages of the proposed scheme.