Design A New Model of Unmanned Aerial Vehicle Quadrotor Using The Variation in The Length of The Arm

The direction of technological advancement toward autonomous aerial vehicle is increased. As a consequence of this evolution, the quad rotor used to accomplish a complex task in several fields. This paper presents the dynamic model of this miniature aerial vehicle in altitude and new dynamic model for yaw attitude movement, based on varying the arm length of quadrotor instead of varying the speed of motors to obtain a rotation around z-axis. This achieved by fixed a stepper motor in the arm of quadrotor to increase or decrease the length of the arm according to controller command for yawing movement. The controller command achieved by design PID controller with specific parameters to maintain the stability of the quadrotor in the flight path. The equipped energy to the motors during flight and maneuvering is reduced by selecting the motors’ speed. The MATLAB software code used to evaluate and presents the comparison between the proposed and conventional quadrotor dynamic model. Simulation results show the robustness performance of the proposed model due to the movement around the z-axis with high system stability