Multirotor Aerodynamics and Actuation

  • Matko Orsag
  • Christopher Korpela
  • Paul Oh
  • Stjepan Bogdan
Part of the Advances in Industrial Control book series (AIC)


The first step toward deriving a real-time controller is to adequately model the dynamics of the system. This approach was utilized since the very beginning of quadrotor research (Bouabdallah, Murrieri, Siegwart, Proceedings - IEEE international conference robotics and automation ICRA ’04, 2004, [4]). As research on micro-aerial vehicle grows (i.e., mobile manipulation, aerobatic moves) (Korpela, Danko, Oh, Proceedings of the international conference on unmanned aerial systems (ICUAS), 2011, [11], Mellinger, Lindsey, Shomin, Kumar, Proceeding IEEE/RSJ international conference intelligent robots and systems (IROS), 2011, [13]), the need for an elaborate mathematical model arises. The model needs to incorporate a full spectrum of aerodynamic effects that act on the quadrotor during climb, descent, and forward flight. To derive a more complete mathematical model of a quadrotor, one needs to start with basic concepts of momentum theory and blade elemental theory.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Matko Orsag
    • 1
  • Christopher Korpela
    • 2
  • Paul Oh
    • 3
  • Stjepan Bogdan
    • 1
  1. 1.Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia
  2. 2.Department of Electrical Engineering and Computer ScienceUnited States Military AcademyWest PointUSA
  3. 3.Department of Mechanical EngineeringUniversity of Nevada Las VegasLas VegasUSA

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