Modeling and simulation of a quadcopter with altitude and attitude control
Faraz Ahmad, Pushpendra Kumar, Pravin P. Patil · Nonlinear studies · 2018
In the present work, flight of an Unmanned Aerial Vehicle (UAV) is analyzed and controlled.A specific UAV called quadcopter is considered for modeling and control. A quadcopter isan under actuated system with four inputs for its motion in 3-dimensional space. It has capability ofvertical takeoff and landing (VTOL) like helicopter in limited space. Model-based control of quadcopteris necessary to obtain its desired motion. Therefore, in this paper, mathematical model of thequadcopter is derived considering its kinematics and dynamics. The developed model is used to proposecontrol strategy for attitude (roll, pitch, and yaw) and altitude (height) control of the quadcopter.Two classical control strategies, namely PD and PID controllers are developed and compared throughsimulation.