Nonlinear model and control validation of a tilting quadcopter

In this paper, a deep analysis of a quadcopter with tilting rotors is proposed. An exhaustive mechanical study is provided for several configurations of the aerial vehicle, allowing nonlinear mathematical equations that are obtained using the Newton-Euler approach, resulting in over actuated systems. A control scheme is proposed and validated numerically and in real time to stabilize the system. Some ROS nodes are developed, to convert the Simulink (TM) control diagrams into C++ code, in order to implement the control algorithms easily into the embedded system of the developed quadcopter prototype with tilting rotors.