Inverse simulation of unconventional maneuvers for a quadcopter with tilting rotors

An inverse simulation algorithm is applied to the determination of the control laws for tracking desired maneuvers by means of an unconventional quad-rotor configuration. This novel configuration features four rotors that are allowed to tilt around the axis of the support, thus changing the thrust vector direction in order to achieve unprecedented maneuvering capabilities. The novel configuration is compared with a conventional quad-rotor, where control moments are generated by variations of rotor rotation rates. A 90 deg roll maneuver in forward flight is also presented, to highlight the increased maneuvering capabilities of the new configuration.