Determining allowable parametric uncertainty in an uncommon quadrotormodel for closed loop stability

In this article, control oriented uncertainty modeling of an uncommon quadrotor in hover is discussed. This consists two counter-rotating big rotors on longitudinal axis and small tilt lateral axis. Firstly, approximate linear model vehicle around obtained by using Newton--Euler formulation. Secondly, specific assigned to each parameter. Resulting uncertain converted into a fractional transformation framework for robustness analysis. Next, the most critical parameters terms robust stability proposed are investigated $ \mu sensitivities. Finally, skewed-$ analysis determines maximum possible bounds that difficult identify accurately.