Siddhardha Kedarisetty
Quadrotor, centre of gravity control, control allocation, moving mass, integral backstepping
This work presents a novel quadrotor configuration capable of controlling its attitude by varying its centre of gravity (CoG). This configuration can alter its CoG using the movable landing gear and produce moments to control its attitude. Algorithms for the design of landing gear, control allocation, and attitude and position control are developed. This configuration and the developed control algorithms are experimentally validated. Simulations are conducted to demonstrate the proposed configuration’s disturbance rejection capability that eliminates undesirable torque due to improper mounting of payloads or payloads with unevenly distributed mass.
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