Quadrotor with a Dihedral Angle: on the Effects of Tilting the Rotors Inwards

Hanoch Efraim, Amir Shapiro, Gera Weiss

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


We study the effects of tilting the plane of rotations of the rotors of a quadrotor helicopter inwards, a structure inspired by the dihedral angle in fixed-wing airplanes. We show that this configuration yields effects that contribute to stability and reduce the dependency on velocity measurement which, in many cases, is hard to achieve at sufficient rate and accuracy. We present a theoretical analysis supported by simulations and by experiments.

Original languageEnglish
Pages (from-to)313-324
Number of pages12
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
StatePublished - 1 Nov 2015


  • Dihedral
  • Hover
  • Hovercraft
  • MAV
  • Quadrotor

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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