Configurations and control method of fully actuated multi-rotor unmanned aerial vehicle: A review

Fully actuated multi-rotor unmanned aerial vehicles (FA-UAVs) have attracted significant attention in recent years due to their ability to achieve precise control over both position and attitude in three-dimensional space. This paper provides a comprehensive review of the system configurations and control methodologies of FA-UAVs. First of all, the fundamental concepts of FA-UAVs are introduced, highlighting their differences from traditional underactuated multi-rotor UAVs, followed by a systematic classification of the various types of FA-UAVs. Next, the different configurations that enable full actuation are discussed in detail, including fixed rotor and tiltrotor arrangements. Subsequently, A study and discussion of the published control methods for FA-UAVs have been conducted, covering control architectures, disturbance control method, and position-attitude time synchronization control. In addition, relevant application status of FA-UAVs are presented. Finally, current challenges and future prospects are explored.