Modelling and control of quadrotor maneuvers with variations of center of gravitry (COG)

In this paper, the effects of variations of the center of gravity (COG) on the quadrotor maneuvers is studied in terms of dynamic modeling and control. The quadrotor's six degree freedom dynamic model is employed while the variation of the COG is treated as a motion tuner. As a result, a generalized dynamic model with extra motions is established. This model is simulated with the software packages MATLAB/ SIMULINK. To verify the model, some validation points are used to check the flight maneuver. Finally, the control of a reciprocating maneuver is designed by 2
^nd
order sliding mode controller.