Mathematical and physical modelling with dynamic change in the center of gravity of quadrotor

One of challenges in aerial grasping is the dynamic change in the center of gravity (CoG). The control system design of quadrotor must be able to compensate for the dynamic change in the CoG of the quadrotor. It is caused when a quadrotor flies and carries a payload, the CoG of quadrotor does not coincide with the center of the quadrotor's geometry. Therefore, for designing a robust control system with respect to an added payload mass, an accurate dynamic model of a quadrotor is highly required. In this paper, the dynamic change in the CoG location of a quadrotor will be developed in mathematical and physical model when the quadrotor carries a payload at hover. The physical model will be utilized to verify the mathematical model. In the simulation of mathematical and physical model, the Euler angle and the altitude of quadrotor are controlled by PID compensator. Based on the simulation results, the quadrotor has the same response especially in transient and steady state responses. For further complex dynamic modelling of quadrotor, physical model can be used for control design purpose with ease of development.