Abstract
Fully actuated multi-rotor UAVs have gone through development in the last decades. This article collects studies on different UAV modelling design and feedback control to prove the feasibility of its full actuation. First, the structure design and model construction of fully actuated multi-rotor UAV are discussed and analyzed. Then, the types of fully actuated multi-rotor are classified and analyzed in combination with relevant papers in recent years. Then, the feedback control method is analyzed on the basis of mathematical modeling. Finally, he feasibility of design and control of fully driven UAV has been confirmed, and the future development trend is expected.
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