Comparing dynamic model and flight control of plus and cross quadcopter configurations

Abstract

This research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were applied for both quadcopters. The plus-configuration creates a yaw moment when a pitch or roll control input is supplied using multi-rotor controls; however, the cross-configuration decouples pitch and roll control from yaw. However, the plus-quad showed considerable instability while rotating with a pitch and rolling due to the self-generated residual rotation of the four rotors, which is small in the cross quadcopter, making it more maneuverability stable. The obtained results showed that both quadcopters consume the same energy amount.