  In this paper, a new unmanned aerial vehicle (UAV) structure, referred to as
swash mass UAV, is presented. It consists of a double blade coaxial shaft rotor
and four swash masses that allow changing the orientation and maneuvering the
UAV. The dynamical system model is derived from the Newton\textquotesingle s
law framework. The rotational behavior of the UAV is discussed as a function of
the design parameters. Given the uniqueness and the form of the obtained
non-linear dynamical system model, a back-stepping control mechanism is
proposed. It is obtained following the Lyapunov's control approach in each
iteration step. Numerical results show that the swashed mass UAV can be
maneuvered with the proposed control algorithm so that linear and aggressive
trajectories can be accurately tracked.
