Toward a New Multirotor Design With Spatial Configuration and Tilted Rotors

In recent years, aerial interaction tasks increasingly use UAVs, and because of their intrinsic under-actuation, they are consequently limited in their motion. Therefor, there are three classes of systems to overcome the under-actuation problem such as, the non-flat multirotors, drone with tilted rotors and reconfigurable systems. This paper proposes generic modeling of a multirotor with a non-flat configuration. This model is derived by considering all physical and mechanical constraints. As a result, the body-fixed frame can be placed at any point in the vehicle and the rotors instead with varying tilt angles and arm lengths in any position in space. These specifications give a nonsymmetrical and spatial configuration to the multirotor with fully row rank control allocation matrix. A numerical simulation result was provided to show the effectiveness of our model.