Kinematics and Dynamics Modeling of Bionic Variable Structure UAVs

In recent years, quadrotors have been widely used in many fields, and the requirements for rescue and exploration in narrow and limited environments have gradually increased. In order to improve the adaptability of quadrotors for limited environments, this paper establishes the kinematics and dynamics of bionic variable structure unmanned aerial vehicle (BVS-UAVs). Specifically, the four arms of BVS-UAVs can rotate independently around the central body frame to realize the configuration change during flight, which enhances the adaptation for limited environments and complex tasks, such as narrow space and close scanning vertical surfaces. However, compared with fixed-wing UAVs, the control of variable structure and asymmetric for BVS-UAV is full of challenges, and the modeling of kinematics and dynamics is intuitively important. Therefore, kinematics and dynamics for BVS-UAVs considering the change of center of gravity (CoG) and the moment of inertia (MoI) are established. We also calculated the control allocation matrix. Besides, the prototype of BVS-UAVs is built and the hover performance is fully verified.