Table 1 The symbols of CoG dynamics model of a QUAV.
From: The control method of a quadrotor driven by bidirectional electronic speed controllers
Symbols | Meaning |
|---|---|
\({{\varvec{\upeta}}}\) | Position of cog |
\({{\varvec{\upomega}}}\) | Angular velocity of QUAV |
\({\mathbf{I}}\) | Moment of inertia |
\(g\) | Gravity |
\({\mathbf{F}}_{T}\) | Thrust in body frame |
\({{\varvec{\uptau}}}\) | Torque of QUAV |
\({\mathbf{e}}_{{\mathbf{3}}} = (0\quad 0\quad 1)^{T}\) | Unit vector |
\({\mathbf{R}}_{iu} ({\mathbf{q}})\) | Direction in inertial frame |
