Vehicles

Vehicle modeling defines the dynamics and actuator mappings that bound every algorithm in this handbook. This chapter includes multirotor, fixed-wing, and hybrid VTOL operating regimes.

Core Questions

• Which assumptions are valid for each airframe class?
• How do actuator constraints reshape feasible trajectories?
• What model simplifications preserve control fidelity?

Algorithms

• Quadrotor Dynamics
• Fixed-Wing Flight
• VTOL Transition

Prerequisites

• Newton-Euler rigid body dynamics
• Aerodynamic force and moment modeling
• Control allocation and actuator limits