Backstepping Method and Control Allocation for a Fully-Actuated Tri-Rotor

This paper considers a tilting tri-rotor unmanned aerial vehicle (UAV) with each rotor having a tilting degree of freedom. The dynamic model of this UAV is obtained in this paper, which is a fully-actuated system instead of an underactuated system. Although it is not a redundant system, it also needs control allocator to distribute virtual control commands to actuators. Therefore, we propose a new control allocation method to solve this nonlinear problem. Meanwhile, the Backstepping method is used to build the entire control architecture. Finally, several simulation experiments are conducted to demonstrate our proposed method.