Design and flight tests 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 and 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 and initial flight test results acquired from the prototype.