The significance of a non-gravitational force called Rotor Drag in an under-actuated UAV is proven in the literature. The addition of the Rotor Drag model in the dynamics improves the state estimation and the UAV can be controller just by using accelerometer measurements in a closed loop.
In this work the effect of rotor drag force in a fully actuated UAV with tilted rotors is analyzed, comparing a tilted rotors UAV in fully actuated mode, underactuated mode, and a generic hexacopter with planar rotors. The rotor drag coefficient for Fully actuated UAV FiberTHex is estimated by lab experiments and simulations.
The conclusions from this study will support the development of better state estimation in fully actuated UAVs with tilted propellers by just using the measurements from IMU.
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