Dynamic modeling of a multi-rotorcraft UAS with morphing capabilities

In this article, the dynamic model for an Unmanned Aircraft System (UAS) enhanced with morphing capabilities is presented. The developed model describes three different modes of operation, which are: horizontal body flight configuration, vertical body flight configuration, and morphing stage. The proposed dynamic model considers a multi-rotorcraft which makes use of eight rotors for flying in the horizontal configuration, whereas a set of four rotors are used during the vertical configuration. By doing this, the novel rotorcraft may be able to operate even during rotor failure. Furthermore, the vertical flight mode can be implemented for accessing narrow spaces. The detailed model is complemented with a brief explanation of the hardware design of the experimental platform.