Quadrotors are vertical take-off and landing (VTOL) aerial vehicles with four rotors. Their simple structure, high agility, and desirable dynamic features have made them a popular subject among control engineers. However, a major limitation of conventional quadrotors is that they generate thrust only in the vertical direction. This characteristic necessitates a three-phase control process and introduces difficulties for horizontal motion, as tilting the body (via pitch or roll) is required to produce lateral movement.

To overcome these challenges, this paper presents a novel quadrotor UAV structure designed to improve planar maneuverability. The new design is developed based on conceptual design principles by modifying the configuration and method of thrust distribution. This allows for better control in the horizontal direction without relying solely on body tilting.The dynamic behavior of the proposed UAV is modeled using the Euler-Lagrange method to derive the equations of motion. These equations enable detailed control analysis and serve as a basis for designing advanced control algorithms. A Sliding Mode Controller (SMC) is implemented to evaluate the control performance of the UAV. Numerical simulations, conducted in a suitable software environment, demonstrate the effectiveness and stability of the new structure.The results are compared with those of a traditional quadrotor under identical control conditions. The findings reveal that the proposed configuration offers improved control precision, faster response, and enhanced stability, indicating its strong potential for next-generation UAV systems