Research Article Open Access

Feedback Control of Quad-Rotors with a Matlab-Based Simulator

Stephen Armah1, Sun Yi1, Wonchang Choi2 and Dongchul Shin2
  • 1 North Carolina A and T State University, United States
  • 2 Gachon University, Korea
American Journal of Applied Sciences
Volume 13 No. 6, 2016, 779-793

DOI: https://doi.org/10.3844/ajassp.2016.779.793

Submitted On: 2 November 2015 Published On: 23 June 2016

How to Cite: Armah, S., Yi, S., Choi, W. & Shin, D. (2016). Feedback Control of Quad-Rotors with a Matlab-Based Simulator. American Journal of Applied Sciences, 13(6), 779-793. https://doi.org/10.3844/ajassp.2016.779.793

Abstract

Precise regulation of position and attitude (roll, pitch and yaw) is one of the most critical tasks to be considered in designing controllers for quadrotor types of Unmanned Aerial Vehicles (UAVs). The MATLAB-based simulator for quadrotors using PD-feedback control to achieve stabilization was developed. MATLAB/Simulink models are used to design and validate the control algorithms and the simulation results are presented. The quadrotor non-linear dynamics and kinematics were implemented using MATLAB S-function to generate a continuous state output. The simulation results are presented graphically and quantitatively. The developed MATLAB GUI interface is robust and interactive to implement the different control algorithms under various operating conditions.

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Keywords

  • Quadrotor
  • UAVs
  • PD-Feedback Control
  • GUI
  • Euler Angles
  • MATLAB S-Function