Platform design and mathematical modeling of an ultralight quadrotor micro aerial vehicle

In this paper, a micro quadrotor aircraft with approximately 40 g gross weight and 8 min flight endurance is developed. System development of this micro aerial vehicle is discussed in terms of the design of the mechanical structure and electrical systems. Mechanical structure is designed based on the proposed weight budget, propulsion system efficiency as well as results of structural analysis. Mechanical parts are designed and analyzed with 3D simulation software then 3D printed. Development of the electrical systems includes integration of processor, inertia measurement unit, and communications with commercial off-the-shelf electronics. Finally, a mathematical model of the quadrotor is derived based on the quadrotor X-configuration working principle. Parameters involved are further identified with experimental setups or simulations. The controller is first simulated with software simulator and then tuned with real flight tests.