Effects of Variable Arm Length on UAV Control Systems

M. Rizon, C.K. Ang, Mahmud Iwan Solihin, Zuradzman Mohamad Razlan, Hazy Desa, Shahriman A. Bakar, Wan Khairunizam, Zunaidi Ibrahim
2020 Journal of Robotics, Networking and Artificial Life (JRNAL)  
Keywords UAV quadrotor moment of bending arm length A B S T R A C T Quadrotor is a type of unmanned aerial vehicle that has been widely used in many applications, such as, policing, surveillance, aerial photography and agriculture. Conventionally, the control of quadrotor flight direction is accomplished by varying speeds of rotors or manipulating torques. In this paper, a novel mechanism is proposed. The mechanism uses stepper rotors to control the arm length for changing flight directions,
more » ... ight directions, while maintaining rotors' speed at constant. This can be achieved using a mathematical analysis of relation between quadrotor arm length and moment of bending of various position of rotor. Analysis and simulation results have shown the change in arm length required to produce moment of bending for hovering, roll and pitch motion. Experimental results have shown that the new mechanism is able to carry more payloads which the rotor speed can be utilized fully at 100% while the flight direction is been controlled by changing of the arm length compared to conventional flight control mechanisms.
doi:10.2991/jrnal.k.200528.004 fatcat:d3l2w5ywgfawxninoehhjm4sly