Zarzirbird project: Modeling RPAS dynamics for load stability

This paper presents a new mathematical modeling approach of flight behavior for a Remote Piloted Aircraft System (RPAS) core of physical control system (we named it Zarzirbird duo to its similarities with the homonymous bird flight patterns). A hexacopter is being considered as the RPAS throughout this paper to determine the aircraft model. The goal is to keep stability of a determined attached load on a RPAS aircraft for which a definition of mathematical modelling is presented. This mathematical approach explores the quaternions formulation in a spatial orientation, allowing a better motion control than the traditional modelling. It uses both Newton’s Law and Euler-Larange’s Equations, where the Lagrangian mechanics helps in solving the specific problem of calculus of variations. The proposed modelling has been validated in both normal and bad flight conditions, considering the occurrence of both internal and external events like wind variations, propeller damage limits and different environmental conditions.