Enhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanism

This article discusses the benefits of introducing a simple passive mechanism to enable rotor tilting in Vertical Take-Off and Landing (VTOL) multirotor vehicles. Such system is evaluated relevant Urban Air Mobility (UAM) passenger transport scenarios such as hovering wind conditions overcoming failures. While conventional parallel axis multirotors are underactuated systems, proposed makes vehicle fully actuated SE(3), which implies independent cabin position orientation control. An accurate simulator with realistic parameters presented compare simulation architecture VTOL that shares same physical properties. In order make fair comparisons, controllers obtained solving an optimization problem cost function both systems chosen be equivalent. particular, control laws Linear-Quadratic Regulators (LQR), derived by linearizing around hover. It shown through extensive introduction based on universal joints improves performance metrics stability, power consumption, comfort tracking precision nominal flight it does not compromise safety failure situations.