Faero = K tV

Fgrav = mRtT G (9)

Taero = K r Ω
The forces F and torques T produced by a propeller
system of a quadrotor are:
⎡ ⎤ ⎡ ⎤
⎢ 0 ⎥ ⎢ d (F − F ) ⎥
⎢ ⎥ ⎢ 2 4
⎥
F = ⎢ 0 ⎥ , T = ⎢ d ( F3 − F1 ) ⎥ (10)
⎢ 4 ⎥ ⎢ 4 ⎥
⎢∑ Fi ⎥ ⎢c ∑ (−1)i +1 Fi ⎥
⎢⎣ i =1 ⎥⎦ ⎢⎣ i =1 ⎥⎦
Finally, using equations (6), (7), (8) and (9), the
equations of dynamics of the quadrotor can be
expressed in the inertial frame as.
1 1
ξ = −G − Rt K t RtT ξ + Rt F (11)
Fig. 1 Inertial and body fixed frame of a quadrotor. m m

Ω  [ p q r]
T
are the translation velocity vector ϕ = − Rr−1 J −1 ( Rrϕ × JRrϕ ) − Rr−1 J −1 K r Rrϕ
⎛ ∂R ∂R ⎞ (12)
and the rotation velocity vector in the body fixed frame. − Rr−1 ⎜ r θ + r ψ ⎟ ϕ + Rr−1 J −1T
The relations between these vectors can be written as: ⎝ ∂θ ∂ψ ⎠
ξ = RtV
(3) 3. CONTROLLER DESIGN
Ω = Rrϕ
where the skew-symmetric matrix S (Ω) is defined as The quadrotor is an under-actuated system, because six
follows: state variables {x, y, z, φ ,θ ,ψ } should be controlled
even though it has only four inputs {F1 , F2 , F3 , F4 } .
⎡ 0 −Ω3 Ω2 ⎤
S (Ω) = ⎢⎢ Ω3 −Ω1 ⎥⎥
0 Therefore, in most cases, only some of the system
(4)
variables, for example {x, y, z,ψ } , are usually
⎢⎣ −Ω2 Ω1 0 ⎦⎥
controlled.
Using S (Ω) , we have In this study, the attitude and position are separately
Rt = Rt S (Ω) (5) controlled. In the attitude dynamic equations, there are
Differentiating equation (3) with respect to time gives three inputs {T1 , T2 , T3} and three outputs {φ , θ ,ψ } .
ξ = R V + R V = R V + R S (Ω)V = R (V + Ω × V )
t t t t t
Therefore, the attitude equation of dynamics is
controllable. However, in the case of position dynamics,
Ω = R ϕ + ⎛ ∂Rr θ + ∂Rr ψ ⎞ ϕ (6)
there is only one control input F3 but three
r ⎜ ⎟
⎝ ∂θ ∂ψ ⎠
Using the Newton’s laws in the inertial frame, the outputs {x, y, z} . This means that the position dynamics
dynamic equations of motion including forces and cannot guarantee the controllability. In this study, this
moments can be obtained as under-actuated problem is solved making φ and ψ as
∑ Fext = mV + Ω × (mV ) new control inputs to the position dynamics. As a result,
 + Ω × ( J Ω) (7)
∑T = JΩ
ext
the position controller can have three inputs {φ ,θ , F3}
where m and J = diag[ J x , J y , J z ] are the mass and the and three outputs {x, y, z} . This idea seems reasonable
total inertia matrix of a quadrotor, respectively, and since the quadrotor itself can be regarded as an actuator
∑ Fext , ∑Text are external forces and torques as system which has its angles as outputs. Figure 2 shows
the brief schematic structure of the controller.
∑ Fext = F − Faero − Fgrav
(8)
∑ Text = T − Taero
where the aerodynamic reaction force Faero , the
gravitational reaction force Fgrav , and the aerodynamic
reaction torque Taero acting on a quadrotor can be
expressed as
Fig. 2 Controller structure.

282
 Fig. 3 The position and reference during tracking the
trajectory.
Fig. 4 Time plots of positions and references.
As shown in Fig. 5, attitude angles change during the
trajectory following according to its desired references.
Figure 6 shows the input histories.
Fig. 5 Time plots of attitude angles and references.
284
Fig. 6 Force control inputs.
5. CONCLUSIONS
In this paper, the dynamic modeling of a quadrotor is
developed and the trajectory following controller is
designed. The quadrotor is an under-actuated and highly
nonlinear system. In this study, the attitude and position
controllers are separately designed. The position
controller’s outputs are considered as inputs to the
attitude controller, which can overcome the
uncontrollability of the under-actuated system. Using
the feedback linearization method, the linear controller
is designed for the trajectory following. The 1-2-3 type
Euler angles are used for the purpose of the system
linearization. The performance of the proposed
controller is verified through numerical simulation.
ACKNOWLEDGEMENT
The Authors gratefully acknowledge the support from
UTRC(Unmanned technology Research Center) at
KAIST(Korea Advanced Institute of Science and
Technology), originally funded by DAPA, ADD
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