System Design of a Novel Tilt-Roll Rotor Quadrotor UAV

Abdulkerim Fatih Şenkul, Erdinç Altuğ*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


Quadrotor helicopters are among one of the most interested topics in the robotics field in the last decade. Regularly, a simple quadrotor has four fixed motors, giving the availability of controlling 4 independent inputs for a 6 degrees-of-freedom (DOF) system. In the recent studies, there is a tendency on changing the controlled system from fixed actuators to the ones that can have dynamic rotations around their axes or planes. This approach is progressing nowadays in order to build more robust versions of quadrotors. The design and control system of a tilt-roll rotor quadrotor has been studied and simulated in this paper. Each of the rotor speeds and their particular angle with respect to the earth frame is adaptively controlled using various control algorithms including cascaded PID. Design implementation of the tiltable geometry is also presented as well as the tilting mechanism’s electronic and CAD design. The mathematical model of the tiltable geometry is given and compared with the previous designs by the help of simulations held on Matlab. The simulations prove that the proposed design is more robust and stable than the regular quadrotor especially when environmental limitations are taken into account.

Original languageEnglish
Pages (from-to)575-599
Number of pages25
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1-4
Publication statusPublished - 1 Dec 2016

Bibliographical note

Publisher Copyright:
© 2015, Springer Science+Business Media Dordrecht.


  • Flight stability
  • QTR
  • Tilt rotor
  • UAV


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