1. Quadrotor and its Control
Lin Zhong
ELEC424, Fall 2010

2. Lighter than air? Yes Motorized? Motorized? Yes Yes Fixed wing? Yes
Rotary wing?
Yes
Balloon, blimp, glider
Rotorcrafts
Fixed blade pitch?
Yes

3. Highest: 5m. Six bladed rotors
De Bothezat Quadrotor, 1923

4. Flight dynamics
Roll, pitch and yaw

5. Earth axes Body axes eN: north eE: east eD: downward (gravity)
X: nose forward
Y: right of X
Z: positive downward

6. Pitch (θ): X relative to horizon
Roll (φ): Y relative to horizon
Yaw (ψ): X relative to north