Modeling And Control Strategies For Bicopter Type UAVs

This paper deals with the modeling and simulation of a Bicopter type UAV. It provides a detailed derivation of the mathematical model for both planar and spatial Bicopters based on the Euler-Lagrange equation and Newton's second law of motion. We have designed a trajectory controller for the planar model and a cascade controller for the spatial model. Simulation results are presented and discussed. For realtime implementation knowing the position of the system is essential. In this regard, the article outlines a position determination principle based on inertial sensors, where the states will be estimated and filtered using a Kalman filter.