Modelling, Design, Analysis, and Control of a Uniaxial Tilting Quadcopter for Complex Interaction with the Environment

Tilting quadcopters are a special form of Unmanned Aerial Vehicle (UAV) that incorporate servomotors capable of controlling the orientation of the rotors independently of the quadcopter body. This thesis presents the formulation of a force and torque feedback sliding mode control tilting quadcopter, outlining the fundamental mathematical basis on which its control methodology operates, computation analysis of its performance in comparison to other common control strategies used in the field, and the design and development process of a tilting quadcopter research platform.