Modeling of Quadcopter UAVS has Six Degrees of Freedom

Quadcopter, also known as quadrotor or drone, belongs to a particular type of Vertical Take-Off and Landing aircraft with four directed upward rotors. The electric motors and their corresponding propellers are usually placed in a square formation with an equal distance to the center of mass. Similar to the other types of multi-rotor drone, quadrotor is controlled by adjusting angular velocities of the propellers. Quadcopters have generated considerable interest in both the control community due to their complex dynamics and a lot of potentials in outdoor applications because of their advantages over regular aerial vehicles.

This work addresses the modelling for quadcopter or drone unmanned aerial vehicles (UAVs). the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated as disturbances.