Modeling and simulation of a quadcopter with altitude and attitude control

  • Faraz Ahmad Graphic Era University
  • Pushpendra Kumar
  • Pravin P. Patil

Abstract

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 is
an under actuated system with four inputs for its motion in 3-dimensional space. It has capability of
vertical takeoff and landing (VTOL) like helicopter in limited space. Model-based control of quadcopter
is necessary to obtain its desired motion. Therefore, in this paper, mathematical model of the
quadcopter is derived considering its kinematics and dynamics. The developed model is used to propose
control 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 through
simulation.

Published
May 28, 2018
How to Cite
AHMAD, Faraz; KUMAR, Pushpendra; PATIL, Pravin P.. Modeling and simulation of a quadcopter with altitude and attitude control. Nonlinear Studies, [S.l.], v. 25, n. 2, p. 287-299, may 2018. ISSN 2153-4373. Available at: <http://nonlinearstudies.com/index.php/nonlinear/article/view/1493>. Date accessed: 25 june 2018.