Modeling and control of a new multicopter

This paper presents a new structure of multicopter with its propellers installed in three different directions. The aim is to achieve complete independent control of position and attitude of the multicopter. This can allow us to control the position with its desired attitude controlled simultaneously. As such, this new multicopter can hover at any fixed point with its attitude changed freely. This can not be achieved for the existing multicopter. The key feature of this new design is that it provides the practical engineering area with a revelation, i.e., it is actually not necessary to install robots on the aircraft to accomplish the planned aerial mission because this new multicopter is essentially a six degree-of-freedom aerial manipulator. For this novel design, the dynamic model is further established by using the Newton-Euler method. On the basis of this, the work of controller design is also carried out. The motion feature which the general multicopter can not be achieved is fmally verified by numerical simulation.