This paper analyzes the properties of a unique quadrotor, all rotors of which rotate in the clockwise direction,
to verify its hovering capability. First, we derive the dynamics of the considered quadrotor composed of clockwise rotors
only. Then, we indicate that owing tilted rotor is necessitated to achieve hovering with this structure, although these tilted
rotors generate unfavorable thrust to the horizontal directions. Second, to design a control method for this quadrotor,
we assemble a prototype of this quadrotor, which parameters are utilized to analyze the characteristics of this structure
by singular value decomposition. To alleviate unfavorable horizontal thrust caused by tilted rotors, we propose a control
structure based on a control allocation method. Finally, experimental results demonstrate that our proposed control method
makes the considered UAV hover.
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