摘要：AbstractThis paper presents the modelling and control of a single-axis tilting quadrotor unmanned aerial vehicle (UAV). The single-axis tilting of the rotors transforms the quadrotor into an overactuated system, enabling control in all 6 6 degrees-of-freedom (DOF). The development of a detailed mathematical model for single-axis tilting quadrotor UAV is presented. Thereafter, a proportional-integral-derivative (PID) controller implementation and a control-allocated sliding mode control (CASMC) implementations are investigated. Stability analysis of the proposed sliding mode controller was carried out using Lyapunov stability method. The method was validated within the MATLAB/Simulink environment, in order to generate data for comparison purposes. It was determined that the single-axis tilting quadrotor CASMC technique provides better overall performance when compared to the PID controller.
