Modeling and Control of Quadrotor Systems

摘要

This research clarifies the control problem of quadrotor system using PD control. In order to design the control a nonlinear dynamic model of the quadrotor system is derived. The dynamic model contains set of equations valid for hovering. Those set of equations evolved a complex mathematical model with more realistic aerodynamic coefficients and actuator models. Two different control loops are designed in this work to control the motion of the quadrotor system. While the first loop is used to control position of the system; the second loop is utilized to control the orientation. The estimated control inputs are updated based on direct feedback of orientation and the position of the system. The simulation results show the effectiveness of overall systems model and the presented control approach. The work will be expanded later; where off-board test-rig can be used to test the suggested control approach.