Mathematical modeling and simulation of unmanned aerial vehicles, especially, quadrotor modeling are not a simple work because of their complex structure, nonlinear dynamics and under-actuated features. This paper presents the development of a...

In this paper, the complete nonlinear modeling of dynamical quadrotor is studied. The modeling is conducted in two parts of body modeling using Newton – Euler’s method and propulsion system modeling. The propulsion system is modeled in eight phases...