Equations of motion for an X-configuration quadcopter

[doggydan42]

Hello! I've been looking into the equations of motions of a quadcopter with an x-config. The only thing I've found was http://www.inase.org/library/2014/santorini/bypaper/SYSTEMS/SYSTEMS1-07.pdf, but it seems complicated. Could someone explain the equation of motions, and how they were arrived at? Also, is it possible to simplify the equations to something someone in high school could understand?

Thank you in advance

 

[BvU]

How simple would you want it ? There are a number of degrees of freedom you have to deal with, whether you like it or not.

The article is only a part I of an intended series ... (not followed up since 2014 -- and I grant you it's hard to read -- partly because of the imperfect english)
Did you read up on the Denavit Hartenberg parameters ? I think you'll need the mathematical formalism to do anything non-trivial in this area. It's simply not that easily simplified...

The only thing I've found

Funny. I google and find a lot more.