DefinePK

Abstract

This paper presents the design and analysis of quadrotor with a novel mathematical model based on varying the arm’s length instead of varying the motors’ speed. This model is named Variable Arms Lengths quadrotor (VAL-quadrotor). The objective of this design is to tackle the problem of nonlinear system model in attitude movement. This accomplished by exploiting the moments of arms to create variable torque around the center of gravity, through increasing or decreasing the length of VAL-quadrotor arms while fixing the motors speed. Thus, the model is converted to a linear controlling system. Since the controlling input to the attitude system is the arms length which is a function of a first order system. The effect of changing the design configuration on the moments of inertia is derived. The stability of the altitude, attitude, and position are achieved by adding a PID controller. The performance of VAL-quadrotor is evaluated by simulation which based on MATLAB code to perform the trajectory tracking.