Detailed octorotor modeling and PD control

@article{Osmic2016DetailedOM,
  title={Detailed octorotor modeling and PD control},
  author={Nedim Osmic and Muhamed Kuric and Ivan Petrovic},
  journal={2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
  year={2016},
  pages={002182-002189}
}
This paper presents a detailed octorotor model derivation. The full derivation of the rigid octorotor body dynamics based on the Newton-Euler approach including the Gyroscopic effect and motor dynamics is given. We also discuss a generalization of the model thus making it applicable to any symmetric and balanced multirotor aerial vehicle (MAV) system with even number of rotors. Finally, simple stabilization control is designed and compared with the state of the art results. 

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