Modelling and Control of Overactuated Quadcopter

Abstract

This thesis explores the modeling, control, and simulation of an overactuated quadrotor UAV designed to address the limitations of conventional underactuated systems. The goal is effective control of all 6-DoF through the introduction of additional actuators for tilt and twist functions, enabling novel capabilities such as in-flight frame rotation and landing on inclined surfaces. The work includes the development of dynamic and kinematic models using Newton-Euler formulations, implementation of adaptive control allocation strategies, and comparative simulation studies of various control approaches, including cascaded PID controllers. The results demonstrate the potential for achieving stable single-point rotations, highlighting the promise of overactuated UAVs for advanced applications such as aerial manipulation and structural inspection.