{"ID":2839446,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.15225","arxiv_id":"2511.15225","title":"A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter","abstract":"This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated UAVs, it liminates internal force cancellation, resulting in higher flight efficiency and endurance under equivalent payload conditions. Based on the dynamic model of fully-actuated hexacopter, a full-actuation controller is designed to achieve efficient and stable control. Finally, simulation is conducted, validating the superior fully-actuated motion capability of fully-actuated hexacopter and the effectiveness of the proposed control strategy.","short_abstract":"This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated UAVs, it liminates internal force cancellation, resulting in higher flight efficienc...","url_abs":"https://arxiv.org/abs/2511.15225","url_pdf":"https://arxiv.org/pdf/2511.15225v1","authors":"[\"Jiajun Liu\",\"Yimin Zhu\",\"Xiaorui Liu\",\"Mingye Cao\",\"Mingchao Li\",\"Lixian Zhang\"]","published":"2025-11-19T08:24:26Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}