Model-Based Control of a Fully Autonomous Quadrotor UAV
Hamzeh Alzu’bi, Belal H. Sababha, Basim Alkhatib · 2013
This paper presents a model-based control approach of a fully autonomous quadrotor unmanned aerial vehicle (UAV). The model-based control algorithm covers the UAV’s attitude, altitude and waypoint navigation controllers. The attitude control is composed of roll, pitch and yaw stability control. The control algorithm is developed using MATLAB’s Simulink development environment. The graphical environment of Simulink allows developers to easily implement and tune complex control algorithms. Moreover, real-time workshop tools in Matlab Simulink allow easy auto code generation to be executed on a variety of microcontrollers. Auto tuning and optimization of control loop gains through Matlab tools is utilized to tune the control loops of the system.