Comparison of Control Methods for Trajectory Tracking in Fully Actuated Unmanned Aerial Vehicles

In this article, recently proposed control methods, suitable for trajectory tracking in fully actuated unmanned aerial vehicles (UAVs), are reviewed and experimentally compared. We specifically focus on multirotor platforms with tiltable propellers, which the thrust torque delivered by each rotor can be oriented within aircraft frame using servo actuators. First, main assumptions underlying design model usually employed literature discussed, pointing out limitations. Then, some recent laws that have been to address problem these reviewed, placing emphasis their capabilities as well ease of tuning implementation. Finally, experimental results obtained applying three a tilt-arm quadrotor UAV shown evaluate compare performance. Two experiments, representative operating conditions thrust-vectoring UAVs, performed: set-point level attitude full-pose task.