Quadrotor reference guide: Mathematical model, representation of inertia and computational application

The quadrotor is the base research on situations involving movement and air transport, being technological solution for applications in industrial, academic, civil and military systems. The research area of quadrotors lacks complete and detailed information, with bibliographic material of high complexity of representation, punctual approaches, incomplete models and lack of reference information. The present research was performed with the presentation and standardization of the conventions used, followed by the structuring of the mathematical modeling, representation of the dynamics involved in the aircraft, control of the attitude of the system, representation of inertia and application of the mathematical model through implementation in computational tool. This work presents a guide for the research of quadrotors, with mathematical modeling and use of computational implementation in Matlab/Simulink, using specific aircraft characteristics, flight references, dynamics model and attitude control, obtaining output data from the model. This work represents a guide for beginners, as well as a complete reference for the application and extension of modeling and control surveys of quadrotors.