Modelling the Draganflyer four-rotor helicopter

The Draganflyer is a radio-controlled helicopter. It is powered by 4 rotors and is capable of motion in air in 6 degrees of freedom and of stable hovering. For flying it requires a high degree of skill, with the operator continually making small adjustments. In this paper, we do a theoretical analysis of the dynamics of the Draganflyer in order to develop a model of it from which we can develop a computer control system for stable hovering and indoor flight.