Quadcopter: dynamics and control

Authors: Lysukho G.V., Maslennikov A.L.
Published in issue: #5(46)/2020
DOI: 10.18698/2541-8009-2020-5-604
Category: Aviation and Rocket-Space Engineering | Chapter: Aircraft Dynamics, Ballistics, Motion Control
Keywords: UAV, multirotor UAV, quadcopter, mathematical model, control, dynamics, flight dynamics, motors
Published: 08.05.2020

Development of multirotor UAVs and quadcopters as a special case make it possible to use in different areas of human life, not only for effective photo and video. In more serious tasks, for instance, in target tracking or in trajectory tracking by UAV, the control system should obey to high requirements, especially in accuracy and response rate. Design of such control demand the knowledge of quadcopter flight and control dynamics and also the adequate mathematical model for testing and debugging. In this paper flight and control dynamics of the quadcopter is discussed, and full nonlinear dynamical model including motors dynamics is presented.

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