Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review


  • Gabriel Oliveira Pimentel
  • Murillo Ferreira Dos Santos
  • Leonardo de Mello Honorio
  • Paolo Mercorelli
  • Mathaus Ferreira Da Silva
  • Antonio Paulo Gomes Mendes Moreira

This work presents the modeling, control, and simulation of a new Unmanned Aerial Vehicle (UAV) prototype, of an over-actuated Hexacopter Tilt-Rotor (HTR) type. Regarding its topology, 2 of the 6 actuators are independently tilted by servomotors. This possibility gives the HTR higher maneuver-ability and reliability. In this combination, every propulsion motor and servomotor has its Real Control Action (RCA) processed simply and with low computational cost procedures since the control allocation technique can be embedded even in traditional control boards. Furthermore, this control allocation will increase the vehicle's yaw capability and steering control. The control structure used is a cascaded loop of Proportional (P)-Proportional-Integral-Derivative (PID) controllers with the Successive Loop Closure (SLC), in all 5 manipulated Degrees of Freedom (DoF). The results conclude that flights presented reasonable stability and maneuverability.

Original languageEnglish
Title of host publicationProceedings of the 2023 24th International Carpathian Control Conference, ICCC 2023
EditorsDaniel Drotos, Rabab Benotsmane, Attila Karoly Varga, Attila Trohak, Jozsef Vasarhelyi
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date12.06.2023
ISBN (print)979-8-3503-1023-8
ISBN (electronic)979-8-3503-1022-1
Publication statusPublished - 12.06.2023
Event24th International Carpathian Control Conference - Sinaia, Romania
Duration: 12.05.202314.05.2023
Conference number: 24

Bibliographical note

Funding Information:
ACKNOWLEDGMENT The authors would like to thank CEFET-MG, DAAD and Leuphana University of Lüneburg for their financial support.

Publisher Copyright:
© 2023 IEEE.

    Research areas

  • Hexacopter Tilt-Rotor, Over-actuated Vehicle, P-PID controller, Successive Loop Closure
  • Engineering