Static Hovering Realization for Multirotor Aerial Vehicles With Tiltable Propellers

This paper presents a theoretical study on the ability of multi-rotor aerial vehicles (MRAVs) with tiltable propellers to achieve and sustain static hovering at different orientations. To analyze MRAVs hovering, novel linear map between platform's control inputs applied forces moments is introduced. The relation introduced hover orientations developed. Correspondingly, conditions for realize are detailed. A numerical metric then introduced, which reflects subclass defined as Critically Statically Hoverable platforms (CSH), where CSH that cannot fixed propellers, but can tilting propellers. Finally, extensive simulations conducted test validate above findings, demonstrate effect proposed dynamics.