Feedback Control of Quad-Rotors with a Matlab-Based Simulator
- 1 North Carolina A and T State University, United States
- 2 Gachon University, Korea
Copyright: © 2020 Stephen Armah, Sun Yi, Wonchang Choi and Dongchul Shin. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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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- PD-Feedback Control
- Euler Angles
- MATLAB S-Function