# multirotor

Guidance model for multirotor UAVs

## Description

A `multirotor`

object represents a reduced-order guidance model
for an unmanned aerial vehicle (UAV). The model approximates the behavior of a closed-loop
system consisting of an autopilot controller and a multirotor kinematic model for 3-D
motion.

For fixed-wing UAVs, see `fixedwing`

.

## Creation

`model = multirotor`

creates a multirotor motion model with
`double`

precision values for inputs, outputs, and configuration parameters
of the guidance model.

`model = multirotor(DataType)`

specifies the data type precision
(`DataType`

property) for the inputs, outputs, and configurations
parameters of the guidance model.

## Properties

## Object Functions

`control` | Control commands for UAV |

`derivative` | Time derivative of UAV states |

`environment` | Environmental inputs for UAV |

`state` | UAV state vector |

## Examples

## More About

## References

[1] Mellinger, Daniel, and Nathan
Michael. "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors."
*The International Journal of Robotics Research*. 2012, pp.
664-74.

## Extended Capabilities

## Version History

**Introduced in R2018b**