Robust control of novel thrust vectored 3D printed multicopter

In this paper, a novel thrust vectored 3D printed multicopter is designed and built. The dynamic equation of the multicopter with n propellers where n ≥ 2 is derived. Conditions for effective thrust vectoring is established. A robust control scheme for the multicopter system, based on the multi-surface sliding control is proposed. We prove that the proposed control scheme guarantees asymptotic output tracking performance. Experimental results are presented to validate the analysis.