Comprehensive Modeling of Quadrotors for Maneuvering Flight Control Design

A comprehensive model of a quadrotor is built for the maneuvering flight control design in which the nonlinearities of the quadrotor become dominant. The modeling is based on the components of the quadrotors such as the propellers by ignoring the weak coupling among the four propellers. The property of the propellers is tested in the wind tunnel in presence of the relative air flow and in each scheduled condition. The comprehensive model of the quadrotor is derived with the Newton's laws by integrating the property of the propellers. The built model is verified with the wind tunnel test data and The verification results show that the output of the propeller model is matched well with the test data. The built model is useful to the maneuvering flight control design of the quadrotors in high speed and large acceleration as the kinematical and aerodynamic nonlinearities are formulated in the model.