Dynamic model of a MAV with COG shifting mechanism

This paper reports and discusses the numerical controller design for an unconventional Micro Aerial Vehicle (MAV) having coaxial counter rotating propellers and lateral navigation mechanism of shifting the center of gravity of the MAV to tilt the rotor's plane and get a horizontal component of the thrust. Detailed Simulink model for the MAV's dynamics and the controller is presented and discussed. The model is supposed to be a way point command executer and an illustration of orbit and the point to point navigation command is given as a proof of concept.