Attitude Control of Quad-Rotor Helicopter with COG Shift

Abstract

In this study, we set a single arm robot and load mass on the center of experimental Quad Rotor Helicopter (QRH). When the robot arm tilts in small angle (~30 degrees), this motion generates load torque to tilt the airframe of QRH, and then attitude control system generates counter torque to cancel the tilt angle. As the result, small inclination exists when counter torque balances to load torque. This small inclination generates moving thrust, and QRH starts to slide. This result means that we can control QRH with external independent devices attached on it.