Design, Modeling, and Control of a Fully Actuated Multirotor with Multidirectional Thrusts

This paper introduces a novel multirotor Unmanned Aerial Vehicles (UAV) configuration with inclinable rotors, extendable arms, and a spatial arrangement, categorized under a new classification system based on articulation and rotor dispersion. A comprehensive nonlinear mathematical model is developed to account for asymmetry, rotor placement, and dynamic behavior. The model is validated through MATLAB simulations across multiple scenarios, demonstrating precise complex trajectory tracking. The proposed PID control parameters were optimized using Particle Swarm Optimization (PSO), achieving significant improvements in control effort and energy efficiency. Results highlight the UAV’s adaptability and performance, providing a foundation for future research on robust control methods to handle real-world disturbances.