Modeling and PD Control of a Quadrotor VTOL Vehicle

In this paper, we present a model of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as quadrotor aircraft. And we explained its control architecture including vision based control. Quadrotors have generated considerable interest in both the control community due to their complex dynamics and military because of their advantages over regular air vehicles. The proposed dynamical model which comprises gyroscopic effects and its control strategies can be source for future works.