Modeling and Flight Control Simulation of Multirotors

A theorem for flight controls of multirotors is discussed. First the mathematical foundation for describing the motion of a multirotor as a rigid body is summarized. Secondly definitions and theorems for multirotor operating points, (or flight states), and flight controls are summarized. Thirdly a theorem of the motor speeds to realize the desired multirotor flight states including constant altitudes and hovering flights, is provided. Finally by using some implementations of the theorem on Maple symbolic computations, MATLAB matrix calculations, and MATLAB numerical simulations with ODE solvers, the examples of flight control simulations for a quadrotor are presented.