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Dynamic Modelling and Analysis of a Quadrotor Based on Selected Physical Parameters

Moad Idrissi and Fawaz Annaz
Faculty of Computing, Engineering and the Built Environment Birmingham City University Birmingham, UK

Abstract—Over the past decade, control techniques have been widely implemented on quadrotors to achieve the desired positions within the coordinate system. However, ensuring that the dynamics are correct and that similar results to a physical model can be obtained has been a question of interest. In this paper, the quadrotor dynamics are thoroughly analysed in simulation without using any controllers. Specifically, suitable actuators and propellers have been selected to generate ideal thrusts that will enforce the unmanned aerial vehicle (UAV) to lift. By using kinematics approach, one can analyse the expected motion of the UAV after a certain thrust is applied on all motors. Hence, the dynamics of the proposed quadrotor are recognised and verified through numerical simulations, leading to presenting the motions of the physical model. The results attained have illustrated promising results in which a comparative study between experimental and theoretical methods have presented little to no errors.

Index Terms—UAV, Quadrotor, Dynamic Modelling, Automation

Cite: Moad Idrissi and Fawaz Annaz, "Dynamic Modelling and Analysis of a Quadrotor Based on Selected Physical Parameters," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 6, pp. 784-790, June 2020. DOI: 10.18178/ijmerr.9.6.784-790

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.