Modelling and controls of a hexacopter

Multicopters also known as drones, are becoming a common platform for the Unmanned Aerial Vehicles (UAVs). These devices are usually powered and propelled by multiple rotors placed in a geometric arrangement around the drone to allow control of the drone during flight. The main purpose of this research is to present the basic mathematical model for a Hexacopter, which is a special type of drone and to design a control scheme for the safe operation of the Hexacopter. In a hexacopter, three pairs of counter-rotating fixed blades are placed around the hexacopter. A Hexacopter is not as popular as a quadcopter but has several advantages over the quadcopter including vertical landing and takeoff, hovering, the capability of performing more complex operations over other aircraft. The hexacopter is controlled by adjusting the angular velocities of the rotors which are further controlled by a flight controller. In this thesis, a mathematical model of a hexacopter is formulated to study the dynamic behavior of the Hexacopter. A suitable control is built for improving the hovering conditions and to control the attitude (Roll, Pitch, and Yaw) of the hexacopter. The multirotor is assumed as a rigid body, so the differential equations can be derived by Newton-Euler or the Euler-Lagrange equations. The mathematical model is designed by considering the Newton-Euler parametrization