2A1-A02 Realization and the stability analysis simulation of the variable arm in a quad-rotor(Aerial Robot and Mechatronics (1))

Abstract

We aim to construct the quad-rotor with variable arms and develop a simulator for stability analysis in order to find the optimal arm degree of the quad-rotor. The proposed simulation is based on the modified dynamics of quad-rotor, especially, variable arms, and it can visualize the behavior of quad-rotor under various arm degrees. Through the observation of proposed simulation, it is confirmed that the behavior of quad-rotor with variable arms is different from the conventional quad-rotor, that is, fixed arms.