A new UAV configuration having eight rotors: Dynamical model and real-time control

In this paper we present an original configuration of a small aerial vehicle having eight rotors, four of them are devoted to stabilize the helicopter and the rest are used to drive the lateral displacements. The dynamical model is obtained using Euler-Lagrange approach, the attitude dynamics (roll, pitch and yaw) are practically independent of the translational dynamics corresponding to the lateral displacements (x and y), except for a small compensation on the angles roll and pitch. This compensation is directly related to the velocity of corresponding lateral motors of each axis. With this particular configuration many task could be simplified, reducing the complexity to develop an autonomous flight. Moreover, we are able to apply an easier control strategy for the flying machine.