Design and Dynamic Modelling of Quadrotor VTOL aircraft

This article focuses on the design and dynamic modeling of a VTOL aircraft with a quadrotor design. Contrary to other VTOL aircraft, quadrotor VTOL aircraft has no control surfaces and is controlled and maneuvered by varying the angular velocities of rotors. This aircraft can take off and land vertically, hover and glide, which makes the design useful in many fields of operations. Dynamic equations of the quadrotor VTOL aircraft in hovering and gliding modes are derived and discussed in detail in this paper. The aircraft based on the stated design was tested successfully in a controlled environment with minimal wind speed. The benefits of this design over other drone designs are also discussed.