Experimental Evaluation of an Overactuated Quadrotor TiltRotor Using a Didactic Gyroscopic Testbench

This paper presents the experimental validation of an overactuated Quadrotor TiltRotor (QTR) prototype through a testbench experiment focused on angular stability analysis. The QTR incorporates an additional degree of freedom via four servomotors, enabling enhanced maneuverability and effective disturbance rejection. The experiment was conducted under controlled conditions to evaluate roll, pitch, and yaw stability, with full battery charge and predefined initial orientations. Also, the system relies on a Fast Control Allocation (FCA) strategy to distribute control efforts among redundant actuators in real time optimally. Then, the results confirm the effectiveness of the proposed overactuated architecture in maintaining stability, accurately tracking setpoints, and handling actuator saturation. These findings support the viability of the QTR design for future applications in cooperative robotic systems and autonomous aerial missions.