Toward a Novel Generic Model of a Transformable Multi-link Multirotor

Drones have evolved and developed across various domains to perform many tasks. Recently, this evolution has been driven not only by the development of new controllers but also by the introduction of new designs, such as multi-link drones with serial structures. These latter have attracted the attention of researchers due to their unique features, such as transporting and manipulating objects. Moreover, their structure allows them to navigate quickly and precisely in narrow spaces, cluttered disaster areas, and challenging environments. To enhance the performance and safety of this type of drones, precise modeling that accurately replicates the system's behavior is essential. For that, in this article, first, we propose a multi-link design with a serial structure. This design allows for transforming the drone's configuration by adjusting the rotation angles of its links to achieve the desired shape for carrying out assigned tasks. Second, a new generic model is suggested for the multirotor. This model encompasses all possible configurations for this type of drone, taking into account its asymmetrical structure and variations of the center of gravity and inertia matrix.