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  1. Home
  2. E-mass: Electromagnetic Mechanism For Active Shifting Of The Centre Of Gravity In Quadrotors Under Drive Fault.
  1. Home
  2. E-mass: Electromagnetic Mechanism For Active Shifting Of The Centre Of Gravity In Quadrotors Under Drive Fault.

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E-MASS: Electromagnetic Mechanism for Active Shifting of the Centre of Gravity in Quadrotors Under Drive Fault.

Mirosław Kondratiuk1, Leszek Ambroziak1, Andrzej Majka2

  • 1Department of Automation of Manufacturing Processes, Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska St. 45C, 15-351 Bialystok, Poland.

Sensors (Basel, Switzerland)
|December 31, 2025

View abstract on PubMed

Summary
This summary is machine-generated.

A new electromagnetic system shifts a quadrotor's center of gravity (CoG) using moving magnets. This enables stable drone control and safe landing, even if one rotor fails.

Keywords:
centre of gravity shiftingelectromagnetic coilpermanent magnetquadrotor drive system fault

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Area of Science:

  • Robotics and Control Systems
  • Electromagnetism and Mechatronics

Background:

  • Unmanned aerial vehicles (quadrotors) require stable control, especially during propulsion system failures.
  • Controlling thrust imbalances is critical for drone maneuverability and safe operation.

Purpose of the Study:

  • To introduce a novel electromagnetic mechanism for actively shifting the center of gravity (CoG) in quadrotors.
  • To enhance drone controllability and enable safe landing procedures during engine failure scenarios.

Main Methods:

  • Design and numerical analysis of an electromagnetic system with coils and permanent magnets.
  • Integration of the mechanism for controlled mass shifting to alter the CoG.
  • CAD modeling, element manufacturing, and simulation of the control system.

Main Results:

  • Demonstration of a functional electromagnetic mechanism for CoG shifting.
  • Simulation results validating the control strategy for unbalanced thrust conditions.
  • Successful design and preparation of a prototype for quadrotor integration.

Conclusions:

  • The proposed electromagnetic mechanism effectively shifts the CoG, providing a viable solution for quadrotor stability during emergencies.
  • This technology enhances drone resilience, allowing for controlled flight and safe landing even with a failed rotor.