Quadrotor UAV Kinematics and Dynamics: A Comprehensive Model with Suggested Control Techniques

This paper offers a comprehensive and systematic approach to developing the mathematical model for quadrotor unmanned aerial vehicles (UAVs), focusing on both kinematics and dynamics. Using the well-established Newton-Euler method, the paper simplifies the modeling process to provide a technically sound yet accessible framework that can be applied across various flight modes. Unlike many previous studies that concentrate on specific flight conditions or control systems, this work focuses purely on presenting a complete guide to deriving the quadrotor model, making it a valuable reference for researchers and engineers looking to understand quadrotor behavior in a detailed and structured manner. Although this paper does not propose or implement new control systems, it suggests a few relevant control strategies that could be used with the provided model, considering the complex dynamics of quadrotors. These strategies serve as a foundation for future research in control system development, highlighting the model’s utility as a key tool in advancing UAV technology. This work fills a gap in existing literature by offering a thorough and practical guide to quadrotor modeling, which is essential for both theoretical study and real-world applications.