# Study on the modeling of the actuation system of a quadrotor

## Palavras-chave:

Actuator Modelling, Integral Backstepping, Quadrotor## Resumo

This work compares the actuator model based on constants, the non-linear model of the actuator’s

components, and the experimental data. The actuation model is composed of the following components: electronic

speed controller (ESC), motor and propeller. The non-linear modeling of the ESC will be done using the pulse

width modulation signal (PWM) as input and the current as output. These current will be the input of the motor

which will have as output the angular velocity which will be the input of the propeller model which will have

as output thrust and torque. A helical trajectory was defined as a desired in the simulation. In both models, the

integral backstepping control was applied. A comparison criterion was used the power consumption, which is one

of the major barriers of these types of vehicles.