Stability Analysis of Quadrotors Using the Euler-Lagrange Method

• Grant number: 25/05163-2
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: July 01, 2025
• End date: June 30, 2026
• Field of knowledge: Physical Sciences and Mathematics - Mathematics - Analysis
• Principal Investigator: Márcia Cristina Anderson Braz Federson
• Grantee: Luís Gustavo Martins
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

The increasing application of unmanned aerial vehicles (UAVs), especially quadrotors, demands advanced modeling and control techniques. This project proposes a stability analysis of quadrotors using the Euler-Lagrange method, a rigorous mathematical approach for deriving the equations of motion in six degrees of freedom (6DOF). The study includes the formulation of dynamic equations and model linearization for stability assessment. Validation will be conducted through numerical simulations in MATLAB/Simulink, enabling the analysis of the system's dynamic behavior. The results are expected to contribute to improving the stability and control of quadrotors, enabling advanced applications in transportation, security, and environmental monitoring. (AU)