Trajectory tracking of trirotor UAV with pendulum load

Recently increasing attention has been paid to multirotor small-scale autonomous helicopters. The most studied rotor layout is the so-called quadrotor helicopter, also called quadcopter. However, these UAVs can be seen as lacking agility as they cannot move in their horizontal plane and thus have to rotate to perform translations. In this work, we develop on a layout involving only three rotors with tilting capabilities. We show in the following the advantage of this layout for tracking arbitrary trajectories and for transporting a pendulum load.