Conclusion

In this article, we've given a set of tools of a geometric nature for modeling a certain class of UAVs, with a rigid body, thrusters and control surfaces.

To move in the right direction, the drone must first and foremost orient itself correctly. To achieve this, we have focused on the geometric and algebraic structure of the three-dimensional orientations represented by the SO(3) set. For a more complex mobile robot with joints, the internal posture will evolve in a more complex space, and the tools presented here will need to be extended.

The models used are often simplistic, as many effects have been neglected, such as certain drag coefficients, turbulence and added weights which are not necessarily constant. However, the main purpose of these models is to synthesize a controller. Thus, the controller is based on a simple model that allows...