Evaluation of the influence of cross-connections accounting in the simplified mathematical model of the quadrotor motion in three-dimensional space

Nowadays unmanned aerial vehicles are in active development and are used in many areas of human activity. One of the main problems in their application is the description of their motion with a given level of accuracy. The use of nonlinear systems of high-order differential equations is associated with the complexity, and often the inability to obtain an analytical solution of the problem of transferring the drone to a given state. Many authors work in the direction of simplifying the mathematical model of the quadrotor motion, discarding the influence of cross-connections caused by the presence of gyroscopic momentums during the rotation of the quadrotor. In this paper we evaluate the accuracy of the description of such a model in comparison with a system of nonlinear differential equations, taking into account the presence of cross-connections and perturbations in the motion of the quadrotor. Conclusions about the need to take into account these factors in the modeling process due to the significant values of the resulting mismatches while using a simplified model are made. © 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the 13th International Symposium “Intelligent Systems” (INTELS'18).