Modeling of Quadrotor Helicopter教材.pdfVIP

Chapter 2 Modeling the Quad-Rotor Mini-Rotorcraft The complete dynamics of an aircraft, taking into account aero-elastic effects, flex- ibility of the wings, internal dynamics of the engine and the whole set of changing variables are quite complex and somewhat unmanageable for the purposes of con- trol. Therefore, it is interesting to consider a simplified model of an aircraft formed by a minimum number of states and inputs, but retaining the main features that must be considered when designing control laws for a real aircraft. This chapter deals with the modeling of a quad-rotor rot