Conference article

Multirotor Aerial Vehicle modeling in Modelica

Muhamed Kuric
Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina

Nedim Osmic
Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina

Adnan Tahirovic
Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Zmaja od Bosne bb, 71000 Sarajevo, Bosnia and Herzegovina

Download article

Published in: Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Linköping Electronic Conference Proceedings 132:42, p. 373-380

Show more +

Published: 2017-07-04

ISBN: 978-91-7685-575-1

ISSN: 1650-3686 (print), 1650-3740 (online)


This paper presents a generalized multirotor aerial vehicle (MAV) modeling framework which includes rigid body dynamics, gyroscopic effects and motor dynamics. We illustrate how this model can be used to derive any MAV platform constructed with an arbitrary number of rotors by using the quadrotor case as an example. Based on this result, we design the first Modelica-based MAV simulator. We validate the proposed design by using a simple altitude and attitude stabilization control system through a Modelica simulation setup.


Multirotor Aerial Vehicle, Modeling, Modelica


K Alexis, G Nikolakopoulos, A Tzes, and L Dritsas. Coordination of helicopter UAVs for aerial forest-fire surveillance. In Applications of intelligent control to engineering systems, pages 169–193. Springer, 2009.

Erdinc Altug, James P Ostrowski, and Robert Mahony. Control of a quadrotor helicopter using visual feedback. In Robotics and Automation, 2002. Proceedings. ICRA’02. IEEE International Conference on, volume 1, pages 72–77. IEEE, 2002. doi:

AscTec. Ascending technologies, gmbh, 2016. URL

Moses Bangura and Robert Mahony. Nonlinear dynamic modeling for high performance control of a quadrotor. In Australasian conference on robotics and automation, pages 1–10, 2012.

Samir Bouabdallah, Pierpaolo Murrieri, and Roland Siegwart. Design and control of an indoor micro quadrotor. In Robotics and Automation, 2004. Proceedings. ICRA’04. 2004 IEEE International Conference on, volume 5, pages 4393–4398. IEEE, 2004a. doi:

Samir Bouabdallah, Andre Noth, and Roland Siegwart. PID vs LQ control techniques applied to an indoor micro quadrotor. In Intelligent Robots and Systems, 2004.(IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, volume 3, pages 2451–2456. IEEE, 2004b.

Tammaso Bresciani. Modelling, identification and control of a quadrotor helicopter. MSc Theses, 2008.

Gim Hee Lee, Lorenz Meier, Petri Tanskanen, and Marc Pollefeys. Vision-based autonomous mapping and exploration using a quadrotor MAV. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pages 4557–4564. IEEE, 2012.

Fadri Furrer, Michael Burri, Markus Achtelik, and Roland Siegwart. RotorS-A Modular Gazebo MAV Simulator Framework. In Robot Operating System (ROS), pages 595–625. Springer, 2016.

Tarek Hamel, Robert Mahony, Rogelio Lozano, and James Ostrowski. Dynamic modelling and configuration stabilization for an x4-flyer. IFAC Proceedings Volumes, 35(1):217–222, 2002. doi:

AE Jimenez-Cano, Jesús Martin, Guillermo Heredia, Aníbal Ollero, and R Cano. Control of an aerial robot with multi-link arm for assembly tasks. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 4916–4921. IEEE, 2013.

Alex Kushleyev, Daniel Mellinger, Caitlin Powers, and Vijay Kumar. Towards a swarm of agile micro quadrotors. Autonomous Robots, 35(4):287–300, 2013.

Quentin Lindsey, Daniel Mellinger, and Vijay Kumar. Construction of cubic structures with quadrotor teams. Proc. Robotics: Science & Systems VII, 2011.

Robert Mahony, Vijay Kumar, and Peter Corke. Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor. IEEE robotics & automation magazine, 19(3):20–32, 2012. doi:

Daniel Mellinger, Quentin Lindsey, Michael Shomin, and Vijay Kumar. Design, modeling, estimation and control for aerial grasping and manipulation. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 2668–2673. IEEE, 2011.

Daniel Mellinger, Michael Shomin, Nathan Michael, and Vijay Kumar. Cooperative grasping and transport using multiple quadrotors. In Distributed autonomous robotic systems, pages 545–558. Springer, 2013.

Nathan Michael, Jonathan Fink, and Vijay Kumar. Cooperative manipulation and transportation with aerial robots. Autonomous Robots, 30(1):73–86, 2011.

David Morin. Introduction to classical mechanics: with problems and solutions. Cambridge University Press, 2008.

Nedim Osmic, Muhamed Kuric, and Ivan Petrovic. Detailed octorotor modeling and PD control. In Systems, Man, and Cybernetics (SMC), 2016 IEEE International Conference on, pages 2182–2189, 2016.

Paul Pounds, Robert Mahony, Peter Hynes, and Jonathan M Roberts. Design of a four-rotor aerial robot. In Proceedings of the 2002 Australasian Conference on Robotics and Automation (ACRA 2002), pages 145–150. Australian Robotics & Automation Association, 2002.

Teodor Tomic, Korbinian Schmid, Philipp Lutz, Andreas Domel, Michael Kassecker, Elmar Mair, Iris Lynne Grixa, Felix Ruess, Michael Suppa, and Darius Burschka. Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue. IEEE robotics & automation magazine, 19(3):46–56, 2012.

Jan Willmann, Federico Augugliaro, Thomas Cadalbert, Raffaello D’Andrea, Fabio Gramazio, and Matthias Kohler. Aerial robotic construction towards a new field of architectural research. International journal of architectural computing, 10(3):439–459, 2012.

Chunhua Zhang and John M Kovacs. The application of small unmanned aerial systems for precision agriculture: a review. Precision agriculture, 13(6):693–712, 2012.

Citations in Crossref