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<p>Quadrotors are used in both civil and military fields due to their simple structure, high maneuverability, and low costs. However, traditional fixed-structure quadrotors are limited in their ability to navigate confined spaces and execute tasks requiring shape adaptability. Morphing quadrotors can overcome these limitations by changing their configuration to adapt to different environments and mission requirements. This paper reviews the basic principles of morphing quadrotors, introduces representative mechanical structure designs, and summarizes existing dynamic modeling and control strategies. By synthesizing the latest research, this review identifies key technical challenges including structural stiffness reduction, dynamic parameter variations during configuration changes, and safe integration of motion planning with control. The paper further discusses mitigation strategies and highlights future research directions. In addition, this paper discusses the advantages and limitations of morphing quadrotors compared with conventional quadrotors or their alternatives such as robotic arms in specific scenarios.</p>

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Structure, Modeling, and Control of Morphing Quadrotors: A Review

  • 期刊论文

  • 发表日期：

    2026年1月12日

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  • Huanhuan Lou,
  • Qingxiang Wu,
  • Hai Wang,
  • Ming Li,
  • Huawang Liu,
  • Ning Sun

摘要

Quadrotors are used in both civil and military fields due to their simple structure, high maneuverability, and low costs. However, traditional fixed-structure quadrotors are limited in their ability to navigate confined spaces and execute tasks requiring shape adaptability. Morphing quadrotors can overcome these limitations by changing their configuration to adapt to different environments and mission requirements. This paper reviews the basic principles of morphing quadrotors, introduces representative mechanical structure designs, and summarizes existing dynamic modeling and control strategies. By synthesizing the latest research, this review identifies key technical challenges including structural stiffness reduction, dynamic parameter variations during configuration changes, and safe integration of motion planning with control. The paper further discusses mitigation strategies and highlights future research directions. In addition, this paper discusses the advantages and limitations of morphing quadrotors compared with conventional quadrotors or their alternatives such as robotic arms in specific scenarios.