Mathematical Modeling & Control Techniques of Quadcopter-UAV: A Review

Since last two-three decades, a lot of experimental, analytical and computational work is being carried out in a robotic system such as quadcopter. Various models and controllers have been applied to control the dynamics of Quadcopter. Further simplifications of expressions and their solutions are done either in MATLAB or similar software’s. It is a dynamic vehicle controlled by four input forces (one for each rotor) and six degrees of freedom (6DOF). The frequency of the four rotors changes by the controller to achieve required motion of quadcopter, hence change the lift force and rotational force. In this paper the review of mathematical modeling of quadcopter is represented.