Dynamical Modeling and Controlof Quadrotor
Faizan Shahid, Muhammad Bilal Kadri, Nasir Aziz Jumani, Zaid Pirwani
Transactions on Machine Design, Vol. 4, No. 2, 2016.
DOI: 
Link: 
Abstract:
In this paper a dynamical modeling of a quadrotor is discussed with different frame of references.The state
equations are derived using gyroscopic and aerodynamics effects. The motor transfer function is derived from theoretical
equations of DC motor with an operational delay. Furthermore a control strategy is presented using Proportional Derivative
(PD) Controller for the attitude and trajectory control of the Quadrotor (UAV). Finally, simulation results for the PD
controller are generated on MATLAB/ Simulink platform by utilizing the dynamical model of Quadrotor (UAV) .Feedback
sensor noise is added to the model output to make simulations more realistic. The simulation results confirm that the
Quadrotor (UAV) is following the desired trajectory with a maximum error deviation of 0.2 meters.