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The mathematical model for a full actuated T-shaped Tri-copter is derived in details and a suitable controller is proposed in this work.The system is governed by three tiltable motor-propeller sets to change the thrust direction to a desired angle.This will lead to the achievement of maneuverability and reduce power consumption.To control the model, a feedback linearization method is used to decouple and get a direct control on the copter degree of freedoms.Attitude and Altitude PID controller is designed to control the system and fulfil the desired trajectory.The PID parameters are tuned using Genetic algorithm (GA) optimization method.The system and the controller performance are proved using MATLAB Simulink platform through several flight scenarios.
Yahia et al. (Tue,) studied this question.