A geometric formulation of multirotor aerial vehicle dynamics

A geometric dynamic modeling framework for generic multirotor aerial vehicles (MAV), based on a modern Lie group formulation of classical screw theory, is presented. Our allows broad range rotor-wing configurations: any number rotors can be attached in arbitrary configurations to either the body or wings, with and wings also tiltable. takes into account all masses inertias MAV rotors, accounts both rotor thrust forces moments as well external aerodynamic other forces. Compared existing methods, our possesses several practical advantages useful applications ranging from design optimization model identification trajectory optimization: (1) equations easily transformed coordinates reference frame; (2) kinematic mass–inertial parameters factored equations; (3) exact, closed-form analytic derivatives dynamics respect configuration variables are derived. We demonstrate systematic procedure examples fixed-tilt, variable-tilt hybrid MAVs wings.