Modeling, Control and Simulation of Quadrotor UAV

This work initiates the path of quadrotor design and control, which had been focused on lately by plenty of researches, linear and non-linear models have been attributed to perform full control of quadrotor with unmanned processing and even environment mapping. As a demonstration, a model of quadrotor has been developed, considering Newton Euler formalism for this paper, and then a PID correction was tuned to assure the desired performance after considering first order linearization for the hovering mode. Simulation was manipulated within MATLAB® Simulink environment, for which results can be observable for many controlling approaches and with variety of parameters ranging in order to get a better design perspective. Further studies on trajectory planning control would use this control approach as inner control loop for attitude stabilization.

• quadrotor
• unmanned aerial vehicles
• Newton-Euler dynamics
• PID control
• linearization
• hover control
• attitude stabilization
• trajectory planning
• nonlinear dynamics modeling

• Adaptive Control of Nonlinear Systems
• Aerospace Engineering and Control Systems
• Control and Dynamics of Mobile Robots
• quadrotor
• unmanned aerial vehicles
• Newton-Euler dynamics
• PID control
• linearization
• hover control
• attitude stabilization
• trajectory planning
• Control and Systems Engineering
• Aerospace Engineering
• Engineering