Center-of-Gravity Variation-Driven Spherical UAV System and Its Control Law

Table 2

Simulation parameters.

Parameter	Symbol	Value
Simulation time (sec)		80
Time interval (sec)		0.10
Total mass (kg)		0.51
Moving part mass (kg)		0.01
Radius of the SUAV (m)		0.25
Pivot position of the moving part (m)		0.25
Rod length (m)		0.125
Inertia components ()
	Scalar gains for control		1.9608
			1.5686
		0.0980
		6.2000
		2.2000