The Tilt-Quadrotor: Concept, Modeling and Identification

A tilt-quadrotor is a fusion of the quad rotor and tiltrotor concepts. A tilt-quadrotor is able to move itself in all six degrees of freedom while maintaining its central core leveled, result of adding two tilting motions to two opposed rotors while the other two rotors remain fixed. Condensing the main information required to build a simulator, this paper presents the tilt-quadrotor original concept, its implementation in the ALIV3 prototype, and its modeling. The procedures and results of a thorough experimental identification of the structural, actuators and sensors parameters are also provided.