Dynamic Modeling of a Transformable Quadrotor

This paper proposes a new design of the well-known quadrotor UAV. This design is based on a variable morphology that can be modified instantaneously during the flight, according to the tasks and the followed trajectory. It is able to change the rotation and the extension of its arms independently. This quadrotor, exploits simple mechanisms i.e. extendable arms and rotating arms. The modeling of this category of quadrotors is not obvious compared to the conventional ones because of its asymmetry. So, a detailed generic model that takes into account the variation of the center of gravity and the inertia is presented. The first prototype platform with rotating arms and some possible configurations will be shown.