Performance evaluation of quadrotor with tilted rotors under wind gusts

Conventional unmanned quadrotor aerial vehicles have a plethora of applications for civilian and military purposes. These quadrotors have four fixed rotors, which are used to drive six outputs (i.e. 3 translational and 3 rotational motions). This leads to coupling between motions. The ability to tilt the rotors of a quadrotor improves its versatility and enables accomplishment of more critical tasks because it has additional inputs to decouple motions. In this work, additional rotor tilting inputs are successfully used to mitigate the effect of wind gust disturbance. We evaluated the performance of quadrotor with tilted rotor under wind gusts and compared its performance with conventional quadrotors. It is shown that the quadrotor with tilted rotors has superior ability to mitigate wind gusts disturbance.