# quadrotor2D

dynamic equations for the the 2D quadrotor benchmark

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also
- References

## Syntax

f = quadrotor2D(x,u,w)

## Description

Dynamic equation for the 2D quadrotor benchmark (see Eq. (3) in [1]). The system states are the quadrotors x- and z-position, the quadrtoror orientiation, and the corresponding velocities. The control inputs to the system are the thrusts geneterated by the rotors.

## Input Arguments

x | system states x (dimension: [nx,1])
u | control inputs u (dimension: [nu,1])
w | disturbances w (dimension: [nw,1])

## Output Arguments

f | value of the dynamic function = time derivative of x

## See Also

`cart`, `robotArm`

## References

- [1] Yuan et al. (2022), Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics

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