Modeling and simulation of a quadcopter UAV

Abstract

A quadcopter is a type of Unmanned Aerial Vehicles (UAV) with four propellers and ability to take-off/landing in limited space. Quadcopter is a system with complex dynamics and six degrees of freedom. In the present work, mathematical model of the quadcopter UAV is developed considering its kinematics and dynamics. A model-based control strategy is developed for the altitude control of quadcopter. Finally, the developed model is simulated for analyzing the motion of quadcopter in space.