Gust Rejection Properties of VTOL Multirotor Aircraft

The effect of rotor aerodynamics on the stability and control of multi-rotor aircraft is explored by analysis of a conceptual planar birotor aircraft. In particular, the effect of rotor tilt on the stability and zero-location is investigated. Furthermore, it is shown that designing the vehicle with outwards rotor tilt potentially results in dramatic improvement in the gust rejection properties of the vehicle.