Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical consists of two parts: description orientation position the UAV in three-dimensional space. It takes into consideration gyroscopic effect, influence Coriolis force, viscous friction several drag-like effects (blade flapping, rotor drag, translational drag profile drag). contrast to multirotor models available literature, one is characterized by complementarity relation control techniques. Depending selection these techniques, can be narrowed (simplified) meet needs without loss behaviour adequacy UAV.