Modelling and daisy chaining control allocation of a multirotor helicopter with a single tilting rotor

Robert Porter, Bijan Shirinzadeh, Man Choi

Research output: Contribution to journalArticleResearchpeer-review

5 Citations (Scopus)


This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-based control allocation scheme is developed and implemented. The control architecture facilitates the control of decoupled lateral accelerations and attitudes. Further, a computational and experimental analysis is undertaken and offers evidence that the proposed multirotor helicopter and control system architecture enables the multirotor helicopter to achieve lateral accelerations without requiring attitude actuation.

Original languageEnglish
Article number81
Number of pages18
Issue number4
Publication statusPublished - 1 Dec 2016


  • Control allocation
  • Multirotor helicopter
  • Tilt-rotor
  • Unmanned aerial vehicles

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