Linearization of

Quadrotor Equations of Motion

Quadrotor Equations of Motion

Linear momentum balance:
2

0
0
5
0
mr = 4 0 5 + R 4
mg
F 1 + F 2 + F 3 + F4

Angular momentum balance:

2 3 2
3
p
L(F2 F4 )
5
L(F3 F1 )
I 4q5 = 4
r
M 1 M 2 + M 3 M4

2 3
2 3
p
p
4q 5 I 4q 5
r
r

Quadrotor Equations of Motion

Linear momentum balance:
2

0
0
mr = 4 0 5 + R 4 0 5
mg
u1

Angular momentum balance:

2 3 2 3
p
u2x
I 4q 5 = 4u2y 5
r
u2z

2 3
2 3
p
p
4q 5 I 4q 5
r
r

Equilibrium Hover Configuration

r = r0 , = = 0, =
r = 0, = = = 0

Linearization of Trigonometric Functions

What is the value of cos() near = 0 ?
Can be approximated with the
Taylor Series:
cos()
d cos()
cos()|=0 +
|=0
d
+ higher order terms

1
0.9
0.8
0.7

cos()

0.6
0.5
0.4
0.3
0.2
0.1
0
-100

-80

-60

-40

-20

(deg)

20

40

60

80

100

sin()|=0

1
6

Linearization of Trigonometric Functions

What is the value of cos() near = 0 ?
Can be approximated with the
Taylor Series:
cos()
d cos()
cos()|=0 +
|=0
d
+ higher order terms

0.98

cos()

0.96

0.94

0.92

0.9

0.88

0.86
-30

-20

-10

(deg)

10

20

30

sin()|=0

1
7

Linearization of Trigonometric Functions

What is the value of sin() near = 0 ?
Can be approximated with the
Taylor Series:
sin()
d sin()
sin()|=0 +
|=0
d
+ higher order terms

1
0.8
0.6
0.4

sin()

0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-100

-80

-60

-40

-20

(deg)

20

40

60

80

100

0 + cos()|=0

Linearization of Trigonometric Functions

What is the value of sin() near = 0 ?
Can be approximated with the
Taylor Series:
sin()
d sin()
sin()|=0 +
|=0
d
+ higher order terms

0.5
0.4
0.3
0.2

sin()

0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5
-30

-20

-10

(deg)

10

20

30

sine function looks linear

around = 0

0 + cos()|=0

Linearized Equations of Motion

What are the equations of motion of the quadrotor when it
is near the equilibrium hover configuration?
r r0 , 0,
r 0, 0

10

Linear Momentum Equation Near Hover

2

0
0
mr = 4 0 5 + R 4 0 5
mg
u1

11

Linear Momentum Equation Near Hover

2

0
c c s s s
mr = 4 0 5 + 4cs + c ss
mg
c s

c s
c c
s

32

c s + cs s
0
s s c cs 5 4 0 5
c c
u1

12

Linear Momentum Equation Near Hover

m
x = (c s + cs s ) u1
m
y = (s s
m
z=

c cs ) u1

mg + (c c) u1

Substituting in the approximation:

sin() , sin( ) , cos() cos( ) 1
13

Linear Momentum Equation Near Hover

m
x = (c + s ) u1
m
y = (s
m
z=

c ) u1

mg + u1

The second derivative of position is proportional to u1 !

14

Angular Rates Near Hover

2 3 2
p
c
4q 5 = 4 0
r
s

0
1
0

3 2 3

c s
s 5 4 5

c c

21

Angular Rates Near Hover

c s
p = c
q = + s
r = s + c c

Substituting in the approximation:

sin() , sin( ) , cos() cos( ) 1

22

Angular Rates Near Hover

p=
q = +
r = +

Substituting in the approximation:

0

Higher order terms: Product of

two terms around 0 is
approximately 0.

23

Angular Rates Near Hover

p=
q =
r=

24

Angular Momentum Equation Near Hover

2 3 2 3
p
u2x
I 4q 5 = 4u2y 5
r
u2z

2 3
2 3
p
p
4q 5 I 4q 5
r
r

Substituting in the approximation:

Ixy Iyx Ixz Izx Iyz Izy 0

25

Angular Momentum Equation Near Hover

2

Ixx 0
4 0 Iyy
0
0
2 3
u2x
4u2y 5
u2z

32 3
0
p
0 5 4q 5 =
Izz
r
2
32
0
r
q
Ixx
4 r 0
p 54 0
q
p 0
0

0
Iyy
0

32 3
0
p
0 5 4q 5
Izz
r

26

Angular Momentum Equation Near Hover

Ixx p = u2x

Iyy qr + Izz qr

Iyy q = u2y + Ixx pr

Izz r = u2z

Izz pr

Ixx pq + Iyy pq

Substituting in the approximation:

qr pr pq
0

Higher order terms: Product of

two terms around 0 is
approximately 0.

27

Angular Momentum Equation Near Hover

Ixx p = u2x
Iyy q = u2y
Izz r = u2z

Substituting in the approximation:

p

q
r

29

Angular Momentum Equation Near Hover

= u2x
Ixx
u2y

=
Iyy
= u2z
Izz

30

Equations of Motion
Recall the linearized linear momentum equation:

m
x = (c + s ) u1
Differentiating the equation:

...

m x = (c + s ) u 1 + c

Differentiating again:

+ s + c

....

m x = (c + s ) u
1 + 2 c
s + s + c u 1 +

s c 2 + s + c + c
c
s

u1

c 2 u1
31

Equations of Motion
Substituting in the approximation:
= u2x , = u2y , = u2z
Ixx
Iyy
Izz

The linear momentum equation becomes:

....
m x = ... +

u2y
u2z
c +
(c
Iyy
Izz

u2x
s )+
s
Ixx

u1

The fourth derivative of position is proportional to u2 !

32