Journal of Zhejiang University-SCIENCE A

, Volume 9, Issue 4, pp 539–545 | Cite as

Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft

  • Ashfaq Ahmad Mian
  • Dao-bo Wang


In this paper, a nonlinear dynamic MIMO model of a 6-DOF underactuated quad rotor rotorcraft is derived based on Newton-Euler formalism. The derivation comprises determining equations of motion of the quad rotor in three dimensions and seeking to approximate the actuation forces through modeling of the aerodynamic coefficients and electric motor dynamics. The derived model is dynamically unstable, so a sequential nonlinear control strategy is implemented for the quad rotor. The control strategy includes exact feedback linearization technique, using the geometric methods of nonlinear control. The performance of the nonlinear control algorithm is evaluated using simulation and the results show the effectiveness of the proposed control strategy for the quad rotor rotorcraft near quasi-stationary flight.

Key words

Quad rotor rotorcraft MIMO model Underactuated systems 

CLC number



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Copyright information

© Zhejiang University 2008

Authors and Affiliations

  1. 1.College of Automation EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

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