Dynamic Model and Control of an Over-actuated Quadrotor UAV

In this paper, a novel omnidirectional unmanned flying vehicle (UAV) is presented. Staring from the well known quadrotor model, some features has been introduced in order to create an over-actuated quadrotor able to fly performing maneuvers that are typically not feasible for UAVs. An inverse dynamics control scheme is proposed to control the modified flying vehicle, with particular attention to the asset control. The stability and versatility of the solution has been proven by means of numerical simulations.