Modeling and simulation of quad-rotor dynamics and spatial navigation

The paper regards modeling, control and simulation of a quad-rotor rotorcraft machine that represents an advanced aerial robot. The main contribution of this paper focuses to the development of a flight simulator to provide advanced R/D tool suitable for control design and model evaluation of a quad-rotor systems to be used for control algorithms development and verification before working with real experimental system. The main aspects of modeling of rotorcraft kinematics and rigid body dynamics, spatial system localization and navigation are considered in the paper. Some high-level control aspects are considered, too. Several basic maneuvers (examples) are investigated and simulated in the paper to verify the simulation software capabilities and engineering capabilities.