  This technical note proves analytically how the exact equivalence of the
Newton-Euler and Euler-Lagrange modeling formulations as applied to multirotor
UAVs is achieved. This is done by deriving a revised Euler-Lagrange multirotor
attitude dynamics model. A review of the published literature reveals that the
commonly adopted Euler-Lagrange multirotor dynamics model is equivalent to the
Newton-Euler model only when it comes to the position dynamics, but not in the
attitude dynamics. Step-by-step derivations and calculations are provided to
show how modeling equivalence to the Newton-Euler formulation is proven. The
modeling equivalence is then verified by obtaining identical results in
numerical simulation studies. Simulation results also illustrate that when
using the revised model for feedback linearization, controller stability at
high gains is improved.
