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A quadrotor system is shown in Figure 1. The quadrotor has four fixed-pitch propellers in a cross
configuration with two pairs of propellers rotating in opposite directions. Each propellers will create a
thrust ????and drag moment ???? as shown Figure 1(b). The rotation of the quadrotor with respect to Earth
can be parameterised by yaw-pitch-roll (?? – ?? – ??) Euler angles. The translational motion with respect
to Earth can be described by a vector ?? = [?? ?? ??], where ??, ?? are horizontal displacements and ?? is
the virtical displacement.