Flight Control of Sliding Arm Quadcopter with Dynamic Structural Parameters

The conceptual design and flight controller of a novel kind of quadcopter are\npresented. This design is capable of morphing the shape of the UAV during\nflight to achieve position and attitude control. We consider a dynamic center\nof gravity (CoG) which causes continuous variation in a moment of inertia (MoI)\nparameters of the UAV in this design. These dynamic structural parameters play\na vital role in the stability and control of the system. The length of\nquadcopter arms is a variable parameter, and it is actuated using attitude\nfeedback-based control law. The MoI parameters are computed in real-time and\nincorporated in the equations of motion of the system. The UAV utilizes the\nangular motion of propellers and variable quadcopter arm lengths for position\nand navigation control. The movement space of the CoG is a design parameter and\nit is bounded by actuator limitations and stability requirements of the system.\nA detailed information on equations of motion, flight controller design and\npossible applications of this system are provided. Further, the proposed\nshape-changing UAV system is evaluated by comparative numerical simulations for\nway point navigation mission and complex trajectory tracking.\n