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<p>To enhance the maneuverability and spatial adaptability of quadrotors, this study proposes a deformable quadrotor with active foldable arms and a modular actuation mechanism. The folding mechanism integrates an offset slider-crank mechanism, a rack-and-pinion mechanism, and a single servo motor, enabling synchronous folding-deployment of the arms with high structural compactness. First, a comprehensive dynamic model of the quadrotor is established, incorporating a multi-wind-field model (covering basic wind, gust wind, gradual wind, and random wind) to characterize real-world flight disturbances. Key dynamic variations induced by arm folding—including center-of-mass (CoM) displacement, moment of inertia changes, and transient forces/torques—are quantified and embedded into the model, forming a complete dynamic control system for the deformable platform. Subsequently, a position-attitude controller based on Active Disturbance Rejection Control (ADRC) is designed. To improve anti-wind-disturbance performance, the fal function (a nonlinear piecewise function) in the ADRC’s Extended State Observer (ESO) is optimized into a piecewise fast optimal function (Pfal), yielding a Superior ADRC (SADRC) scheme with enhanced disturbance estimation and suppression capabilities. Simulation and experimental results indicate that: (1) via simulation, the arm folding-deployment process is tested in hovering conditions, verifying that the proposed fast dynamic control method outperforms traditional strategies in folding speed significantly; (2) flight stability under mixed wind disturbances is evaluated, where the optimized SADRC controller delivers better attitude/position tracking accuracy than conventional PID and standard ADRC methods; (3) experimental results demonstrate that the Fast Control method reduces the folding-deployment time by approximately 22.9% compared with the General Control method, with the deviation of the time reduction rate between experimental and simulated results being about 1.6%, which validates the effectiveness of the proposed Fast Control method. These works lay a foundation for the subsequent experimental research on quadrotors based on the combination of dynamic control methods and fast folding-deployment schemes, and also provide a new solution for active foldable arm quadrotors performing tasks in narrow spaces.</p>

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Dynamic fast control for a deformable quadrotor with active foldable arms

  • 期刊论文

  • 发表日期：

    2026年5月23日

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  • Haibo Tian,
  • Zhiheng Zhou,
  • Xin Zhang,
  • Kangmin Ji,
  • Haipeng Niu

摘要

To enhance the maneuverability and spatial adaptability of quadrotors, this study proposes a deformable quadrotor with active foldable arms and a modular actuation mechanism. The folding mechanism integrates an offset slider-crank mechanism, a rack-and-pinion mechanism, and a single servo motor, enabling synchronous folding-deployment of the arms with high structural compactness. First, a comprehensive dynamic model of the quadrotor is established, incorporating a multi-wind-field model (covering basic wind, gust wind, gradual wind, and random wind) to characterize real-world flight disturbances. Key dynamic variations induced by arm folding—including center-of-mass (CoM) displacement, moment of inertia changes, and transient forces/torques—are quantified and embedded into the model, forming a complete dynamic control system for the deformable platform. Subsequently, a position-attitude controller based on Active Disturbance Rejection Control (ADRC) is designed. To improve anti-wind-disturbance performance, the fal function (a nonlinear piecewise function) in the ADRC’s Extended State Observer (ESO) is optimized into a piecewise fast optimal function (Pfal), yielding a Superior ADRC (SADRC) scheme with enhanced disturbance estimation and suppression capabilities. Simulation and experimental results indicate that: (1) via simulation, the arm folding-deployment process is tested in hovering conditions, verifying that the proposed fast dynamic control method outperforms traditional strategies in folding speed significantly; (2) flight stability under mixed wind disturbances is evaluated, where the optimized SADRC controller delivers better attitude/position tracking accuracy than conventional PID and standard ADRC methods; (3) experimental results demonstrate that the Fast Control method reduces the folding-deployment time by approximately 22.9% compared with the General Control method, with the deviation of the time reduction rate between experimental and simulated results being about 1.6%, which validates the effectiveness of the proposed Fast Control method. These works lay a foundation for the subsequent experimental research on quadrotors based on the combination of dynamic control methods and fast folding-deployment schemes, and also provide a new solution for active foldable arm quadrotors performing tasks in narrow spaces.