"System Identification of Heterogeneous Multirotor Unmanned Aerial Vehi" by Ayaz Ahmed Hoshu, Liuping Wang et al.
An energy efficient heterogeneous multirotor unmanned aerial system (UAS) is presented in this paper, wherein, the aerodynamical characteristics of both helicopter and quadrotor are obtained in a single multirotor design. It features the energy efficiency and endurance of a helicopter, while keeping the mechanical simplicity, control and maneuverability of a quadrotor; employing a single large central rotor to get majority of the lift and four small arm canted rotors for control. Developing the stable and robust control strategy requires the accurate model of system. Due to the added mechanica...
Source: uow.edu.au