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Sunderland Repository records the research produced by the University of Sunderland including practice-based research and theses.

Effects of Variable Arm Length on UAV Control Systems

Rizon, M, Ang, CK., Solihin, MI., M. R., Zuradzman, Desa, H., A. B., Shahriman, Khairunizam, Wan and Bin Ibrahim, Zunaidi (2020) Effects of Variable Arm Length on UAV Control Systems. In: The 2020 International Conference on Artificial Life and Robotics (ICAROB 2020), 13-16 January 2020, B-Con Plaza, Beppu, Oita, JAPAN.

Item Type: Conference or Workshop Item (Paper)


Quadrotor is a type of unmanned aerial vehicle that has been widely used in many applications, such as, policing, surveillance, aerial photography and agriculture. Conventionally, the control of quadrotor flight direction is accomplished by varying speeds of motors or manipulating torques. In this paper, a novel mechanism is proposed. The mechanism uses stepper motors to control the arm length for changing flight directions, while maintaining motors' speed at constant. A mathematical model has been created. The analysis results have shown that varying arm length can effectively control the moment of bending of quadrotors. Increasing the length of arms can result in the increase of the moment of bending without changing speed of motors, thus saving energies. Experimental results have shown that the new mechanism is able to carry more payloads which the motor speed can be utilized fully at 100% while the flight direction is been controlled by changing of the arm length compared to conventional flight control mechanisms.

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Additional Information: ** From Crossref via Jisc Publications Router ** History: ppub 13-01-2020; issued 13-01-2020.
SWORD Depositor: Publication Router
Depositing User: Publication Router


Item ID: 11791
Identification Number:
ISSN: 2188-7829
Official URL:

Users with ORCIDS

ORCID for Zunaidi Bin Ibrahim: ORCID iD

Catalogue record

Date Deposited: 04 Mar 2020 15:21
Last Modified: 04 Mar 2020 15:21


Author: Zunaidi Bin Ibrahim ORCID iD
Author: M Rizon
Author: CK. Ang
Author: MI. Solihin
Author: Zuradzman M. R.
Author: H. Desa
Author: Shahriman A. B.
Author: Wan Khairunizam

University Divisions

Faculty of Technology > School of Engineering

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