Modelling and control of a hexa-copter

The paper describes mathematical model and control algorithm for hexa-copter flying machine. Hexa-copter is a member of multi-rotor flying devices which consist of multiple fixed rotors attached to a simple mechanical construction. Hexa-copter itself consists of 6 six rotors with fixed pitch blades. The main property of such devices is their instability. Thus the control algorithm is non-trivial and its tuning is relatively difficult. Since incorrectly tuned control algorithm can cause device damage the use of mathematical model for testing is appropriate. The model of flying hexa-copter is derived using classical Newton laws. As the perfect model would be complicated, some approximations have been done. Using the state variables of model and linearization a control algorithm is designed. Then the results of control algorithm are presented.