Modeling and Simulation of Trajectory Tracking for a Reconfigurable Serial Drone Using Simscape Multibody

Abstract

In recent years, several classes of transformable drones have emerged, including a novel category known as serial drones. These systems have garnered increasing attention due to their structural adaptability and their ability to perform complex missions such as aerial manipulation and object transportation. Their serial architecture, actuated by servomotors between the arms, enables precise morphological reconfiguration, allowing agile navigation in cluttered or constrained environments. To accurately capture the dynamic behavior of such drones, especially during reconfiguration, a comprehensive and parameter sensitive model is essential. This paper introduces a generic dynamic modeling framework for transformable aerial drones, incorporating variations in key inertial properties namely the inertia matrix, Center of Gravity (CoG), and control allocation matrix throughout the transformation process. A detailed multibody simulation model is also developed using Simscape Multibody (SM) and integrated with a Computer Aided Design (CAD) of the reconfigurable drone. A Proportional Integral Derivative (PID) controller is synthesized and applied identically to both the analytical and multibody models to ensure consistent performance evaluation. Simulation results reveal a strong coherence between the two approaches and confirm the accuracy of the proposed dynamic model. Furthermore, the effectiveness of the control strategy is demonstrated through stable trajectory tracking, validating the framework as a solid foundation for the development of advanced aerial robotics systems.