This project presents the modeling, simulation, and control of a plus configuration of quadcopter using proportional–integral–derivative (PID) controllers implemented in MATLAB/Simulink.
Project contains kinematics and dynamics of quadcopter, as well as mixture control mechnaism for throttle commnands for each rotors. The model incorporates gravitational, gyroscopic, and aerodynamic effects to capture the essential flight dynamics. Simplifications (linearized motors, ignored disturbances, empirical constants) make the model less realistic but effective for conceptual validation.
A hierarchical control architecture is developed, consisting of an outer position control loop and an inner attitude and altitude stabilization loop. PID and PI controllers are tuned to achieve stable trajectory tracking in the X–Y plane and altitude regulation along the Z-axis. Simulation results demonstrate satisfactory flight performance.
Make sure that MATLAB and Simulink R2023a or newer version is already downloaded. Some functions or blocks will not work in older versions.
CS.mat : Parameters for simulation
Quad_dynamics.m : Kinematics and Dynamics formulation for Simulation block.
Qudcopter.slx : Main simulation
path.mat : Command for path and yaw angle
Please refer to the Report. Essential formulation and details and results of simulation are reported.
Neslihan Gülsoy - gulsoyneslihan0@gmail.com