| ABSTRACT |
The existing method of controlling the quadrotor attitude depends on varying the motor speed. Instead of varying the motor speed to control pitch, roll, and yaw attitudes, our proposed design would vary the arms lengths with a fixed motor speed. Therefore, the pitch, roll and yaw torque are achieved by altering the torques around the quadrotor axes and thus producing variable torques around the aircraft centre of mass, as such accomplishes manoeuvrability required under the assumption of: 1) The angular velocity of each rotor is fixed to be constant. 2) The arm¿s lengths vary according to the desired movement during the flight.
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