Mathematical modelling of a quadcopter

[nikolaptr]

Mathematical model describing the behaviour of the quadcopter should be implemented, as it is commonly seen multirotor configuration today. The goal is to create a system of equations that accurately represents the dynamics and control of the quadcopter, including both its linear and nonlinear characteristics (where necessary). Appropriate assumptions may be used in order to produce simplified equations (i.e. symmetrical frame, small angle approximations etc.).

Objectives:

1. Choose quadcopter configuration, X or + (support for both must eventually be implemented).
2. Adapt necessary coordinate systems, both global and body coordinate systems.
3. Model quadcopter inputs (thrust and moments).
4. Describe translational dynamics of the quadcopter.
5. Describe rotational dynamics of the quadcopter.

This topic should be thoroughly researched as this model will be essential for control system design, simulation and testing.