The current generation of UAVs lack extended hovering and flight capabilities. Equipping a quadrotor with an inflatable structure enhances energy efficiency. In this work, the aerostat size effect on a UAV quadrotor system is investigated, and the stability of the Lighter-than-Air system is contrasted by creating a flight dynamics model. A mathematical model of the AR DRONE 2.0 with an aerostat is formulated and simulated with Matlab in hovering mode. The mathematical model is validated by comparison to real-life flight data. A validated dynamic model describing the behavior of the drone in hovering mode was developed and used for simulation
