The quadrotor considered here is mounted on a set of non-actuated wheels that allow for omnidirectional motion on the ground. Tilting of the propellers plane is used to create a propulsion force in the horizontal direction perpendicular to the tilting axis. The dynamics of this system are close to these of the hovercraft, except for the added tilting angle whose monitoring, in relation to thrust creation, slightly complicates the control design.
The control objective is to have the red frame associated with the quadrotor track the yellow frame whose motion is specified by the user.

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