This chapter presents the modeling of a quad-rotor UAV. A general overview of the quad-rotor helicopter and its operation principle is given. Next, the quad-rotor modeling is addressed using two different approaches: Euler–Lagrange and Newton–Euler. How to derive Lagrange’s equations from Newton’s equations is also shown. Finally, the author presents also the Newton–Euler modeling for an “X-Flyer” quad-rotor configuration.
CITATION STYLE
García Carrillo, L. R., Dzul López, A. E., Lozano, R., & Pégard, C. (2013). Modeling the quad-rotor mini-rotorcraft. In Advances in Industrial Control (pp. 23–34). Springer International Publishing. https://doi.org/10.1007/978-1-4471-4399-4_2
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