Dynamic Modelling of a Quadrotor Aerial Vehicle with Nonlinear Inputs

In this paper the quadrotor dynamic model with nonlinear inputs is presented. Deadzone and saturation nonlinear inputs are considered for the quadrotor reflected to the actuators. The goal is to obtain a faithful mathematical representation of the mechanical system for system analysis and control design, not only in hover as presented in many works, but also in motion when take-off, land and flight for aerial navigation task. The model was implemented in Matlab/Simulink simulation model to optimize the design and to project control. Simulations of the model show that the nonlinear inputs must be considered in the control project.