RotorSuite: A MATLAB/Simulink Toolbox for Tilt Multi-Rotor UAV Modeling

TL;DR

A MATLAB/Simulink toolbox for modeling and simulating the dynamics of a broad class of multi-rotor platforms through both an analytical and physics-based approaches is proposed, representing a valuable tool for didactic, research, and industrial development purposes.

Abstract

In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by modern tilted and tilting multi-rotor platforms with enhanced maneuverability. To properly analyze, control, and validate the performance of these emerging platforms, an accurate modeling step is required; however, this can be time-consuming, user-dependent and error-prone. To address this issue, we propose a MATLAB/Simulink toolbox for modeling and simulating the dynamics of a broad class of multi-rotor platforms through both an analytical and physics-based approaches. The toolbox, named RotorSuite, is provided with comprehensive documentation and example use cases, representing a valuable tool for didactic, research, and industrial development purposes.

Figures (6)

• Figure 1: $i$-th propeller position and orientation with respect to the body frame described by parameters $(\ell,\alpha_i,\beta_i,\gamma_i,\delta_i)$.
• Figure 2: Use Case Specifications
• Figure 4: Use case physics-based simulation setup.
• Figure 5: Snapshots of the platform executing the reference maneuver in the physics-based simulation.
• Figure 6: Analytical VS. physics-based simulation tracking performance: 3D position trajectory.