Journal of Technology in Aerospace Engineering

Journal of Technology in Aerospace Engineering

Design ,Control of a Novel Quadrotor Structure with moving arm for Improved Dynamic Stability

Document Type : Research Article

Authors
Pedram Kabiri 1
seyed hosein Sadati 2
1 Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
2 Department of Mechanical Engineering, K. N. Toosi University of Technology,, Tehran, Iran
10.22034/jtae.2026.10.3.6
Abstract
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
Keywords
Hybrid UAV
Guided UAV
UAV Control
Subjects
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  • Receive Date 12 July 2025
  • Revise Date 16 September 2025
  • Accept Date 18 November 2025
  • First Publish Date 02 December 2025