Design, identification and control of a tiltrotor quadcopter UAV

This thesis work will deal with the design of an over actuated quadcopter platform in which the arms are able to tilt around their respective axes will be presented. The designed aerial platform will have a total of 8 control inputs provided by the spinning velocities of each rotor group and by the tilting angles of each arm. On the actual prototype, a comprehensive modelling and identification development will be performed in order to obtain a trustworthy simulation environment. On the developed model, a robust control architecture, optimally tuned with H_inf synthesis, able to gain the full controll of all the 6 DoFs will be designed and validated through experimental results.