Performance Evaluation of Newton Euler & Quaternion Mathematics-based Dynamic Models for an Underactuated Quadrotor UAV

In the streamline of UAVs, researchers have proposed various observers and control designs by opting the Newton Euler (NE) Dynamic model frequently. In this manuscript, performance evaluation has been done in between NE Dynamic model and Quaternion mathematics-based model (QM) to show that QM model has more perks such that it avoids gimbal lock issue that occurs due to singularity problem in NE model. Moreover, it can accommodate the unmodelled dynamic factors smartly i.e., payload smooth and non-smooth variations, wind disturbance, and loss of rotor effectiveness. The numerical results such that simulation time, number of less iterations and error percentage between NE and QM derived models illustrates that one may consider QM model while designing any control or observer design.