Task 1

a)
Taxonomy of flying vehicles based on method of propulsion:

Flying vehicle

Unpowered Powered

Glider Drifter Propeller Jet aircraft

Aircraft
(Wind) (Jet engines)
(Propellers)

Rocket aircraft Helicopter

(Rockets) (Rotors)

b)
Quadrotor:
A Quad Copter is a four-rotor helicopter. It is an under-actuated, dynamic vehicle with four input
forces (one for each rotor) and six Degrees Of Freedom (6DOF).
Working principle:
The motion (upward, downward, forward, landing etc.) of quadrotor is controlled by changing
the speed (rpm) and direction of each motor individually.
Basic Physics:

 Each rotor of quadrotor rotates to

generate thrust to support the weight of
body weight. Rotor 1 and Rotor 3 rotates
clockwise, rotor 2 and rotor 4 rotates
counter clockwise.(Ωr=Ω2+Ω4-Ω1-Ω3)
 If Ωr=0 then there will be no spinning
moments.