A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter

Jiajun Liu; Yimin Zhu; Xiaorui Liu; Mingye Cao; Mingchao Li; Lixian Zhang

doi:10.1109/ICICIP67436.2026.11417652

A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter

Jiajun Liu^*
, Yimin Zhu
, Xiaorui Liu
, Mingye Cao
, Mingchao Li
, Lixian Zhang

^*Corresponding author for this work

School of Astronautics, Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	205-210
Number of pages	6
ISBN (Electronic)	9798331595203
DOIs	https://doi.org/10.1109/ICICIP67436.2026.11417652
State	Published - 2026
Externally published	Yes
Event	14th International Conference on Intelligent Control and Information Processing, ICICIP 2026 - Chiang Mai, Thailand Duration: 21 Feb 2026 → 24 Feb 2026

Publication series

Name	2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026

Conference

Conference	14th International Conference on Intelligent Control and Information Processing, ICICIP 2026
Country/Territory	Thailand
City	Chiang Mai
Period	21/02/26 → 24/02/26

Keywords

Fully-actuated hexacopter
mechanics
modeling and control

Access to Document

10.1109/ICICIP67436.2026.11417652

Cite this

Liu, J., Zhu, Y., Liu, X., Cao, M., Li, M., & Zhang, L. (2026). A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter. In 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026 (pp. 205-210). (2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICICIP67436.2026.11417652

Liu, Jiajun ; Zhu, Yimin ; Liu, Xiaorui et al. / A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter. 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026. Institute of Electrical and Electronics Engineers Inc., 2026. pp. 205-210 (2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026).

@inproceedings{4a1253b3f4b64dcab2dc603f522b94e1,

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.",

keywords = "Fully-actuated hexacopter, mechanics, modeling and control",

author = "Jiajun Liu and Yimin Zhu and Xiaorui Liu and Mingye Cao and Mingchao Li and Lixian Zhang",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026 ; Conference date: 21-02-2026 Through 24-02-2026",

year = "2026",

doi = "10.1109/ICICIP67436.2026.11417652",

language = "英语",

series = "2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "205--210",

booktitle = "2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026",

address = "美国",

}

Liu, J, Zhu, Y, Liu, X, Cao, M, Li, M & Zhang, L 2026, A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter. in 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026. 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026, Institute of Electrical and Electronics Engineers Inc., pp. 205-210, 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026, Chiang Mai, Thailand, 21/02/26. https://doi.org/10.1109/ICICIP67436.2026.11417652

A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter. / Liu, Jiajun; Zhu, Yimin; Liu, Xiaorui et al.
2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026. Institute of Electrical and Electronics Engineers Inc., 2026. p. 205-210 (2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Liu, Jiajun

AU - Zhu, Yimin

AU - Liu, Xiaorui

AU - Cao, Mingye

AU - Li, Mingchao

AU - Zhang, Lixian

PY - 2026

Y1 - 2026

N2 - 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.

AB - 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.

KW - Fully-actuated hexacopter

KW - mechanics

KW - modeling and control

UR - https://www.scopus.com/pages/publications/105035827068

U2 - 10.1109/ICICIP67436.2026.11417652

DO - 10.1109/ICICIP67436.2026.11417652

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T3 - 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026

SP - 205

EP - 210

BT - 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026

Y2 - 21 February 2026 through 24 February 2026

ER -

Liu J, Zhu Y, Liu X, Cao M, Li M, Zhang L. A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter. In 2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026. Institute of Electrical and Electronics Engineers Inc. 2026. p. 205-210. (2026 14th International Conference on Intelligent Control and Information Processing, ICICIP 2026). doi: 10.1109/ICICIP67436.2026.11417652

A Class of Dual-frame Passively-tilting Fully-Actuated Hexacopter

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