Multibody Model Based onSE(3)of a QuadCP-VTOL UAV Using Newton-Euler Formulation

Abstract

In this study, we derive the multibody modeling of a QuadTilt-Rotor UAV using the Newton-Euler formulation. The model considers the aircraft as five rigid bodies, defined by the main body and four groups of thrusters. Additionally, the attitude parametrization of each rigid-body is based onSO(3), which is unique and independent of any local coordinates. Consequently, the dynamic model of QuadCP-VTOL UAV is represented inTSE(3)×(R×SO(3)) space. Finally, we compare the resulting dynamic model with its version developed using the Euler-Lagrange formulation, showing the equivalence between the two versions of the models.