Euler-Lagrange Modeling and Control of Quadrotor UAV with Aerodynamic Compensation

Research focuses on deriving an accurate mathematical model for quadrotor UAVs based on the Euler-Lagrange formulation, which also includes gyroscopic effects and aerodynamic drag. The obtained model is implemented in Matlab/Simulink and compared against a Simscape Multibody implementation. Then, a PD hierarchical control with exact linearization is implemented, tested and compared with the same controller but without considering aerodynamic effects. Results show almost identical behavior, but performance is slightly better when full dynamic compensation is followed. Both detailed models are also released and available as Open Source to be used for controller design, testing and evaluation.