This paper presents a novel concept of a co-axial bi-rotor UAV which is controlled by moving its center of gravity. After deriving a 6DOF nonlinear model using the Euler-Newton method, we introduce a simplified 3DOF model for planar motion. Due to the limited available torque in pitch and roll channels, a linear quadratic regulator controller is designed for planar motion control, in order to evaluate the performance and maneuverability of the system while respecting the control limits. The simulation results of implementing an LQR controller on the nonlinear model for tracking problem shows that the system has convincing performance, and while control inputs are constrained, controlling the system is possible with no significant restrictions. Even with considering a first-order dynamic for the actuators, the implementation of the LQR controller for tracking an 8-shape trajectory considering different uncertainties shows that the system has high enough maneuverability for a wide range of applications, like Air Shipping and Delivery, Photography and Multimedia, Monitoring (Traffic, Wildlife, Industry, …), Search and Rescue, Weather Forecasting, etc.

本文提出了一种同轴双旋翼无人机的新颖概念，它可以通过移动其重心来控制。使用Euler-Newton方法推导6DOF非线性模型后，我们引入了用于平面运动的简化3DOF模型。由于俯仰和横滚通道中的可用扭矩有限，因此设计了线性二次调节器控制器进行平面运动控制，以便在遵守控制限制的同时评估系统的性能和可操纵性。在用于跟踪问题的非线性模型上实现LQR控制器的仿真结果表明，该系统具有令人信服的性能，并且在控制输入受到约束的情况下，可以对系统进行控制而没有明显的限制。即使考虑执行器的一阶动态，