Equation of motion for 2D planar quadrotor are as follows

$\ddot{x} = \frac{1}{m} (u1+u2)sin(\theta)$

$\ddot{y} = \frac{1}{m} (u1+u2)cos(\theta) - mg$

$\ddot{\theta} = \frac{r}{I} (u1+u2)$

How to linearize this equation to get it in state space form x = Ax + Bu. Could someone please help me out?

  • $\begingroup$ Could it be that there are a couple mistakes in your equations, namely in $\ddot{y}$ you both multiply and divide by $m$ and shouldn't $\ddot{\theta}$ be a function of the difference of the inputs? Also what have you tried? $\endgroup$ – fibonatic May 20 '19 at 10:48
  • $\begingroup$ yes you are right. Thanks. $\endgroup$ – npkp May 20 '19 at 19:03

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