Here we present the basics of quadcopter (or Drone) modelling and control as to form a basis for design and development in the area and for student teams to quickly be able to create control systems and co-simulation for their own drone projects.
Quadcopter, also known as quadrotor, is a helicopter with four rotors. The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass of the quadcopter. The quadcopter is controlled by adjusting the angular velocities of the rotors which are spun by electric motors. Quadcopter is a typical design for small unmanned aerial vehicles (UAV) because of the simple structure. Quadcopters are used in surveillance, search and rescue, construction inspections and several other applications.