WITHDRAWN: Control of a Fully-Actuated Dual-axis Tilt Quadrotor

Fully actuated UAVs offer improved maneuverability and precise six-degree-of-freedom (6-DoF) control, making them ideal for complex tasks such as aerial manipulation, inspection in constrained environments, and fault-tolerant operations. However, their over-actuated nature introduces challenges in control allocation and robustness against disturbances. This paper presents a sliding mode control technique combined with a control allocation framework to ensure precise maneuvering for fully actuated UAVs. The proposed design specifically treats a quadrotor with dual-axis tilting propellers. The proposed guidance framework exploits the vehicle’s full actuation capability to achieve decoupled guidance design for translational and rotational motion. Assuming symmetric actuation across all rotors, thrust vectors are systematically derived to satisfy the established tracking objectives. These vectors are subsequently used to solve an inverse control allocation problem, yielding the necessary thrust magnitudes along with the corresponding servo and tilt angles for each rotor. A comprehensive simulation study is conducted to evaluate the effectiveness of the proposed guidance scheme under a range of dynamic reference trajectories.