Dynamics of a Quadrotor

1
 b3

ω3
a3 ω2 b2
ω4 C
r
ω1

O b1
a2

a1

2
Euler Angles
b3

a3
b2

r
e2
Roll, pitch
ψ
b1
a2

a1 ψ e1
3
 Z-X-Y Euler Angles

z Sequence of three rotations about body-

fixed axes
z ✓ ● Rot(z, ψ)
y ● Rot(x, φ)
Rot(y, θ)
z y ●

y
Three Euler Angles
● φ, θ, and ψ
x ● Parameterize rotations

x x
Note there are singularities!

R = Rot(z, ψ) × Rot(x, φ) × Rot(y, θ)

4
 External Forces and Moments
F3

M3
F2

F4
ω3 M2
M4
F1 ω2
r3
a3 b3
b2 r2
ω4 M1
a2
C b1
r4 ω1
a1 r1

F = F1 + F2 + F3 + F4 mga3
M = r1 ⇥ F1 + r2 ⇥ F2 + r3 ⇥ F3 + r4 ⇥ F4
+M1 + M2 + M3 + M4 5
Newton-Euler Equations

System of Particles
Rigid Body