Trajectory tracking and robustness has been carried out only with the third model.Ī study of aggressive manoeuvres was undertaken to maintain quadrotor stability for all applied inputs. Thus, the investigation of aggressive manoeuvres, In fact, only the third method gave rise to satisfactory results. The achieved performances were not always acceptable. Both PID and LQR techniques have been investigated with this model.
The third and last method feeds back the same variables as the second method but uses a simpler model for the rotor dynamics. The second method uses also a PID controller but feeds back &, instead of yyxx &. The first method uses a PID controller and feeds back the following variables: It can be foreseen that the mathematical approach will take into account all the different parameters and the following approaches will be simplifications of the first method making justified assumptions. The methods differ in the following ways: Modelling the rotor dynamics Decoupling the inputs In order to understand the common features of each approach, it is important to consider the following structure: The three different methods are not described chronologically but logically, starting with the most mathematical approach and moving towards the most physically feasible approach.
#Quadcopter simulink model download full
This investigation has been carried out using a full non linear Simulink model. This report gives details about the different methods used to control the position and the yaw angle of the Draganflyer Xpro quadrotor. No part of this publication may be reproduced without the written permission of the copyright holder. This thesis is submitted in partial fulfilment of the requirements for the Degree of Master of ScienceĬranfield University, 2007. Modelling and Linear Control of a Quadrotor MODELLING AND LINEAR CONTROL OF A QUADROTOR
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