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