State Space System Modelling of a Quad Copter UAV

TL;DR

This paper develops linear state-space models for a quadcopter UAV with 3DOF and 6DOF, providing essential tools for control of this inherently unstable system.

Contribution

It introduces detailed linear state-space models for quadcopters based on Newtonian physics, aiding in control system design.

Findings

Derived 3DOF and 6DOF models from Newtonian equations

Models are crucial for controlling unstable quadcopters

Provides foundational framework for further control development

Abstract

In this paper, a linear mathematical model for a quad copter unmanned aerial vehicle (UAV) is derived. The three degrees of freedom (3DOF) and six degrees of freedom (6DOF) quad copter state-space models are developed starting from basic Newtonian equations. These state space models are very important to control the quad copter system which is inherently dynamically unstable.