Navigation, Guidance, Control and Dynamics Commons^™

Increased usage of quadcopters as an embedded system has raised the necessity of developing high quality dynamic models for designing controllers and simulations. In this work, a dynamic model was developed for a quadcopter platform by conducting experiments for estimating the moments of inertia and for determining motor dynamics. The dynamic model consisted of equations of motions derived from Newton and Euler's approach. Moments of inertia were estimated by operating a bifilar pendulum test. The motor dynamics were developed using a custom built test bed. The thrust, torque, voltage, and current were recorded in order to develop an adaptive dynamic …