English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The conceptual design and flight controller of a novel kind of quadcopter arepresented. This design is capable of morphing the shape of the UAV duringflight to achieve position and attitude control. We consider a dynamic centerof gravity (CoG) which causes continuous variation in a moment of inertia (MoI)parameters of the UAV in this design. These dynamic structural parameters playa vital role in the stability and control of the system. The length ofquadcopter arms is a variable parameter, and it is actuated using attitudefeedback-based control law. The MoI parameters are computed in real-time andincorporated in the equations of motion of the system. The UAV utilizes theangular motion of propellers and variable quadcopter arm lengths for positionand navigation control. The movement space of the CoG is a design parameter andit is bounded by actuator limitations and stability requirements of the system.A detailed information on equations of motion, flight controller design andpossible applications of this system are provided. Further, the proposedshape-changing UAV system is evaluated by comparative numerical simulations forway point navigation mission and complex trajectory tracking.

Flight Control of Sliding Arm Quadcopter with Dynamic Structural Parameters