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With advancements in multirotor UAV technology, novel reconfigurable multirotor airframes have emerged as a prominent research focus. Conventional multirotor UAVs, as underactuated systems, face inherent limitations in attitude adjustment during hovering or flight operations due to their reliance on orientation dependent lift vector modulation. To address these constraints, this study proposes a tilt-rotor quadrotor UAV with vectored thrust capabilities. First, the structural design of this vectored rotor UAV is systematically elaborated. Subsequently, a dynamic model is derived using the wrench theorem to characterize its attitude-varying operational states. The nonlinear dynamics are then linearized via the Linear Parameter-Varying (LPV) method and incorporated into a PID control framework for system stabilization. Finally, MATLAB/Simulink simulations validate the model’s performance.

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Research on the Dynamics Modeling and Control Method of Vector Quadrotor UAV with Variable Posture

  • 会议论文

  • 发表日期：

    2026年

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  • Yunfan Pang,
  • Zhonghai Zhang,
  • Jiahui Cai,
  • Duanling Li

摘要

With advancements in multirotor UAV technology, novel reconfigurable multirotor airframes have emerged as a prominent research focus. Conventional multirotor UAVs, as underactuated systems, face inherent limitations in attitude adjustment during hovering or flight operations due to their reliance on orientation dependent lift vector modulation. To address these constraints, this study proposes a tilt-rotor quadrotor UAV with vectored thrust capabilities. First, the structural design of this vectored rotor UAV is systematically elaborated. Subsequently, a dynamic model is derived using the wrench theorem to characterize its attitude-varying operational states. The nonlinear dynamics are then linearized via the Linear Parameter-Varying (LPV) method and incorporated into a PID control framework for system stabilization. Finally, MATLAB/Simulink simulations validate the model’s performance.