PID Gain Scheduling for 3D Trajectory Tracking of a Quadrotor with Rotating and Extendable Arms

Quadrotors with rotating and extendable arms, are a new type of transformable drones, which are appeared more recently. According to the assigned paths or missions, they can adapt their variable geometries by folding or extending their arms using some mechanical mechanisms. These latter are based on motors and servomotors distributed in different ways on the quadrotor prototype. The goal of this manuscript is to design and apply a control strategy based on Gains Scheduling using a conventional Proportional Integral Derivative (PID) controller, where its variable gains are well determined for each aerial morphology. This strategy takes into account the variable dynamic of the proposed structure and calculates the quadrotor geometric changes.