Modeling and control of a quadrotor with variable geometry arms
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摘要: The goal of this paper is to study the dynamics a quadcopter using variable geometry structure and discuss advantages variation. A mathematical model has been described simulation show dynamics. Based on different geometric configurations arms it shown how arms’ angles affect longitudinal lateral design's assumptions refer hovering rotation with Euler angles. Simulation results that both controllers stabilize quadrotor amplitude vibrations significantly decreased, compared vibration common fixed arms, by varying arm's angle. remains stable all rotations are perfectly controlled.
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