Mechanism extension of drones and their flight control

Abstract

　This paper presents mechanisms to extend the flight performance of multicopter-type drones and their flight control. A single-axis tilting mechanism or a dual-axis tilting mechanism that enables the change of the thrust direction on each rotor is introduced, and the dynamic model of the drones, including the tilting mechanisms, is discussed. The multicopter-type drones can achieve independent position and attitude control, and flight in arbitrary attitudes by tilting mechanisms. This paper describes flight applications of the drone with single-axis tilting mechanisms and the flight demonstration of the drone with dual-axis tilting mechanisms.