Active Tilt Angle Multirotor Configurations: Modeling and Simulations

This paper provides an overview of fully actuated multirotor configurations, focusing on the mathematical modeling and simulation of a quadrotor system with actively tilted rotors. A mathematical model is derived using the Euler-Lagrange equations, incorporating rotor forces and torques for each of the individually actuated rotors. The model is reduced and linearized in order to be simulated in MATLAB/Simulink. To evaluate closed-loop regulator performance, a reduced birotor model is utilized and its responses to various reference signals are analyzed.