1132

Abstract—For traditional multi-rotor aircraft, all the rotors fixed in a same plane, the translational and rotational dynamics are coupled. This inherent feature is the reason that restricts the flexibility and agility of multi-rotors. In this paper, we propose a new idea of designing a novel rotor-tiltable hexacopter: (1) each rotor of the hexacopter can rotate around the body, (2) six arms are coupled by six bevel gears, so that tilting motion of each arm can be controlled by a servo motor. This configuration make the vehicle become an over-actuated system. Such a system realizes the decoupling control of position and attitude, and has good flexibility. Based on PID position controller and quaternion based attitude controller, we design a series of simulation experiments. The simulation results verify the tilt-hovering capability and trajectory tracking ability of the vehicle, which further proves the feasibility of this design. Keywords—hexacopter, over-actuated, simulations, tilthovering