UAV Dynamic Behaviour Comparison of Quadcopter Based on Thrust Differential and Tilted Rotor

This paper describes the comparison of dynamic behavior of quadcopter between thrust differential and tilted rotor. The difference of thrust is acquired by applying unequal thrust among front and aft rotors while the tilted rotor has a control mechanism by tilting the rotors. The equations of motion were derived using Newton's second law, and simulated in the Simulink. The focus of the work is on the longitudinal mode behavior and during hovering. From the results, the more of thrust differential force and tilted rotor angle, the more the quadcopter moves forward and downward. It also shown the thrust differential based control displacement motion gradient is steeper than tilted rotor.