Modeling and Control of Reconfigurable Quadrotors with Translational Deformation

Quadrotors has been an useful research platform for decades, reconfigurable quadrotors opens a thoroughly challenging field for scientific research and engineering applications. This paper presents a quadrotors reconfiguration model through translational deformation, then the mathematical model of this reconfiguration is proposed, and control laws based on sliding mode control theory is presented, and simulation model is constructed under MATLAB environment, finally the simulation results validate the proposed control laws.