A Separation Modeling Method for Morphing QUAV: Analytical Solutions for Constraint Forces Under Deformation

A morphing quadrotor unmanned aerial vehicle (QUAV) possesses the remarkable ability to alter its shape, enabling it to navigate through gaps smaller than its wingspan. However, these deformations result in changes to the system's center of gravity and moment of inertia, necessitating real-time computation of each state's variations. To address this challenge, we propose a dynamic modeling approach based on the Udwadia-Kalaba (U-K) method. The morphing QUAV is divided into three separate subsystems, with the dynamic modeling for each subsystem conducted independently. Subsequently, the QUAV's deformation states and inherent structure are introduced in the form of constraints, and the constrained forces are derived using the U-K equation. By combining these analytical solutions, the model of the QUAV under continuous deformation is obtained. This approach effectively simplifies the modeling computations caused by changes in the system's center of gravity and moment of inertia during deformation. A control approach is proposed to achieve attitude stabilization and altitude control for the morphing QUAV. Ultimately, the stable motion of the morphing QUAV is validated through numerical simulations.