Design and simulation of a holonomic quadrotor UAV with sub-rotor control surfaces

In this work, a quadrotor helicopter UAV with sub-rotor control surfaces for non-inclined horizontal motion is designed. Dynamic model of the air vehicle is developed including the control surface driven drag and pushing forces, and the relevant moments. An eight output PID control system is designed for controlling both the rotor speeds and control surface angles. The performance of this control system on the air vehicle is presented through simulation results with severe wind conditions.