Abstract
Currently, active R&D is being conducted on multirotor helicopters, some of which are coming into practical use. We developed an unmanned multirotor helicopter with the aim of realizing a helicopter for commercial use. This paper presents a multirotor helicopter model that considers all rotor dynamics. We also present experimental results that validate the model. This paper describes a simulator system to simulate behavior when rotor trouble occurs. Since the simulator has an input-output interface for humans, operators can be trained for the operation of a multirotor helicopter system by using a virtual helicopter featuring real dynamics.
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