Modelling and attitude control simulation of Multi-rotor Helicopter

In this paper, a nonlinear dynamic model and multi attitude controllers are developed for Multi-rotor Helicopter. First, different type of Multi-rotor Helicopter and its flight theory is introduced. Secondly, based on the forces and moments on the Multi-rotor Aircraft during its flight, kinematic and dynamic model is founded. Then, the mathematical model is simplified to design attitude controllers. Finally, the model and attitude controllers are established in Simulink, and the controllers are proved to be effective.