Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft

Inthispaper,anonlineardynamicMIMOmodelofa6-DOFunderactuatedquadrotorrotorcraftisderivedbasedonNewton-Eulerformalism.Thederivationcomprisesdeterminingequationsofmotionofthequadrotorinthreedimensionsandseekingtoapproximatetheactuationforcesthroughmodelingoftheaerodynamiccoefficientsandelectricmotordynamics.Thederivedmodelisdynamicallyunstable,soasequentialnonlinearcontrolstrategyisimplementedforthequadrotor.Thecontrolstrategyincludesexactfeedbacklinearizationtechnique,usingthegeometricmethodsofnonlinearcontrol.Theperformanceofthenonlinearcontrolalgorithmisevaluatedusingsimulationandtheresultsshowtheeffectivenessoftheproposedcontrolstrategyforthequadrotorrotorcraftnearquasi-stationaryflight.