Positionable Rotor Quadrotor: Dynamic Modeling and Adaptive Finite-Time Sliding-Mode Controller Design

What is it about?

The paper introduces a positionable rotor structure for a quadcopter allowing each rotor to be positioned independently in a finite course to increase robustness against disturbances such as wind. For the case study, up to 70 percent increase in the capacity of disturbance rejection and an over 30 percent reduction in power consumption compared to conventional drones is observed.

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