A generalized dynamical model and control approach applied to multirotor aerial systems

In this work a generalized dynamical model of the multi-rotor unmanned aerial vehicles (UAVs) is presented. The proposed model in six degrees of freedom (6DoF) is expressed as a function of the number of the system actuators and derived from Euler-Newton equations. A combined integral backstepping-PID controller is used to control the system performing a 3D trajectory tracking. The control approach is applied on quadrotor, hexarotor, and octorotor UAVs. Numerical simulations are carried out to validate the generalized model and show the effectiveness of the controller.