A Survey of Modelling and Identification of Quadrotor Robot

Figure 2

Quadrotor dynamics: (a) and (b) difference in torque to manipulate the yaw angle (); (c) and (d) hovering motion and vertical propulsion due to balanced torques; (e) and (f) difference in thrust to manipulate the pitch angle () and the roll angle ().

(a)

(b)

(c)

(d)

(e)

(f)