A geometric formulation of multirotor aerial vehicle dynamics

Youngsuk Hong*, Ramy Rashad, Soocheol Noh, Taeyoon Lee, Stefano Stramigioli, Frank C. Park

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

3 Citations (Scopus)
75 Downloads (Pure)


A geometric dynamic modeling framework for generic multirotor aerial vehicles (MAV), based on a modern Lie group formulation of classical screw theory, is presented. Our framework allows for a broad range of rotor-wing configurations: any number of rotors can be attached in arbitrary configurations to either the body or wings, with the rotors and wings also tiltable. Our framework takes into account all masses and inertias of the MAV body and rotors, and accounts for both rotor thrust forces and moments as well as external aerodynamic and other forces. Compared to existing methods, our Lie group framework possesses several practical advantages useful for applications ranging from design optimization to model identification and trajectory optimization: (1) the dynamic equations can be easily transformed to coordinates of any reference frame; (2) kinematic and mass–inertial parameters can be easily factored from the dynamic equations; (3) exact, closed-form analytic derivatives of the dynamics with respect to the configuration variables are easily derived. We demonstrate our systematic modeling procedure on examples of fixed-tilt, variable-tilt and hybrid MAVs with wings.

Original languageEnglish
Pages (from-to)495-513
Number of pages19
JournalNonlinear Dynamics
Issue number1
Early online date25 Nov 2021
Publication statusPublished - Jan 2022


  • Lie algebra
  • Lie group
  • Multibody dynamics
  • Multirotor aerial vehicle
  • Screw theory
  • 22/1 OA procedure


Dive into the research topics of 'A geometric formulation of multirotor aerial vehicle dynamics'. Together they form a unique fingerprint.

Cite this