The modeling and simulation of a quadrocopter

Abstract

Mini-flying vehicles with four rotors which are called quadcopters have attracted many researchers in recent years. Quadrotor is the one of the most popular rotary wing aircraft in control problems. Vertical take off and landing, high maneuverability capabilities and indoor/outdoor navigation features make them popular. Besides that, by developing technology, especially in sensor devices, it is easy to obtain one of those vehicles. In this study, firstly, a nonlinear quadrotor model is obtained. Secondly, a linear model is transformed from this nonlinear model. Here, two controllers, Linear Quadratic Tracking (LQT) and Linear Quadratic Regulator (LQR) with integral action, are designed to stabilize the quadrotor system. Simulation results are presented to demonstrate the performance of the proposed control strategy. Simulation results show that the method was successfully applied.