Effects of Variable Arm Length on UAV Control Systems
- 10.2991/jrnal.k.200528.004How to use a DOI?
- UAV; quadrotor; moment of bending; arm length
Quadrotor is a type of unmanned aerial vehicle that has been widely used in many applications, such as, policing, surveillance, aerial photography and agriculture. Conventionally, the control of quadrotor flight direction is accomplished by varying speeds of rotors or manipulating torques. In this paper, a novel mechanism is proposed. The mechanism uses stepper rotors to control the arm length for changing flight directions, while maintaining rotors’ speed at constant. This can be achieved using a mathematical analysis of relation between quadrotor arm length and moment of bending of various position of rotor. Analysis and simulation results have shown the change in arm length required to produce moment of bending for hovering, roll and pitch motion. Experimental results have shown that the new mechanism is able to carry more payloads which the rotor speed can be utilized fully at 100% while the flight direction is been controlled by changing of the arm length compared to conventional flight control mechanisms.
- © 2020 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - M. Rizon AU - C.K. Ang AU - Mahmud Iwan Solihin AU - Zuradzman Mohamad Razlan AU - Hazy Desa AU - Shahriman A. Bakar AU - Wan Khairunizam AU - Zunaidi Ibrahim PY - 2020 DA - 2020/06/03 TI - Effects of Variable Arm Length on UAV Control Systems JO - Journal of Robotics, Networking and Artificial Life SP - 91 EP - 97 VL - 7 IS - 2 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.200528.004 DO - 10.2991/jrnal.k.200528.004 ID - Rizon2020 ER -