Journal of Intelligent & Robotic Systems

, Volume 74, Issue 1–2, pp 173–191 | Cite as

A Novel Actuation Concept for a Multi Rotor UAV

  • Pau Segui-Gasco
  • Yazan Al-Rihani
  • Hyo-Sang Shin
  • Al Savvaris


This paper proposes a novel strategy to improve the performance and fault tolerance of multi-rotor vehicles. The proposed strategy uses dual axis tilting propellers and thus enables three different actuation mechanisms, namely, gyroscopic torques, thrust vectoring and differential thrusting. Unlike the conventional quadrotor, the proposed strategy offers a wider range of control torques by combining the three actuation mechanisms. Conventional quadrotors cannot be reconfigured if one of rotors fails. However, the proposed strategy is still able to reconfigure the vehicle with complete failure of one rotor and a pair of adverse motors. In order to prove this concept, a dual axis tilting UAV is first designed and prototyped. Next, a mathematical representation of the prototyped vehicle is modelled and verified using experiments. Then, a control system is developed based on a PD controller and pseudoinverse control allocator and validated through tests on a rig and flight tests. The tests show that the vehicle is faster than a conventional counterpart and that it can resist the failure of two rotors. Finally, this paper suggests how to lead further substantial improvements in performance.


Multi-rotor vehicle Agility and reliability Actuation mechanism Gyroscopic torques Thrust vectoring Differential thrusting Control allocation 


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • Pau Segui-Gasco
    • 1
  • Yazan Al-Rihani
    • 2
  • Hyo-Sang Shin
    • 1
  • Al Savvaris
    • 1
  1. 1.Departament of Engineering PhysicsCranfield UniversityCranfieldUK
  2. 2.King Abdullah Design an Development Bureau (KADDB)AmmanJordan

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