This work presents the dynamical modelling of a flying multibody system. We consider a quadrirotor Helicopter composed of flexible and rigid components. We use the Lagrangian approach to define the equations governing the motion. Deformation modes are used to represent elastic deformation of the substructure relative to a body reference frame. The dynamic model of the whole body interconnected by links is made taking into account the inertial coupling between the rigid body motion and the deformation. The numerical application is related to the quadrirotor XSF developed in the LSC (Laboratory of Complex Systems).

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