Dual-axis tilting quadrotor design v5

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The final design of our dual-axis tilting quadrotor helicopter project featured powerful Cobra 2208 2000KV bldc motors with tri-blade 6x4.5" propellers, allowing for up to 1kg thrust per motor. The vehicle's 1.6kg weight left ample headroom for actuator action due to the 4kg net thrust force. The objective was to create an over-actuated quadrotor capable of vectoring propeller thrust and extending the aircraft's range of motion while applying non-zero attitude and position setpoint tracking. However, budget and time constraints hampered the project. The research focused on control algorithms rather than mechanical design, with the author completing a Masters in Electrical Engineering. A title was given: "Dual-axis tilting quadrotor aircraft and the control thereof," from which three papers were published at IEEE control conferences. However, unbalanced motor masses and complex fluid dynamics challenges due to the vehicle's range of motion posed design complications.