NONLINEAR TRAJECTORY SIMULATION OF A QUADCOPTER  USING THE BEEMAN METHOD

Nguyễn Công Minh; Nguyễn Hoàng Quân

doi:10.34238/tnu-jst.12451

NONLINEAR TRAJECTORY SIMULATION OF A QUADCOPTER USING THE BEEMAN METHOD

About this article

Received: 01/04/25 Revised: 16/06/25 Published: 17/06/25

Authors

1. Nguyen Cong Minh , University of Engineering and Technology - Vietnam National University
2. Nguyen Hoang Quan, University of Engineering and Technology - Vietnam National University

Abstract

Quadcopters are increasingly being applied in various fields such as surveillance, transportation, and search and rescue, etc. This reality necessitates the study and development of dynamic models for quadcopters to accurately simulate flight trajectories. This study focuses on developing a quadcopter dynamic model based on the Newton-Euler equations and applying the Beeman method to compute flight trajectories. Beeman is a numerical algorithm with high accuracy, particularly effective in nonlinear dynamic problems. The effectiveness of this method is verified by comparing it with the fourth-order Runge-Kutta method. The results show that the Beeman method achieves a processing time of only 61.54% to 73.75% compared to the processing time of the fourth-order Runge-Kutta method, while maintaining an error margin of less than 1%. This confirms that Beeman is an optimal choice for nonlinear dynamic simulations of quadcopters, helping to reduce computation time, enhance efficiency, and maintain high accuracy. Accurate trajectory simulation can support the improvement of control algorithms, assess quadcopter stability under external environmental influences, and predict flight trajectories based on experimental data.

Keywords

Quadcopter; Nonlinear dynamics; Beeman method; Flight trajectory; Computational efficiency

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DOI: https://doi.org/10.34238/tnu-jst.12451

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