Simulation and control of a quadcopter
Abstract
The objective of the project is to develop the dynamic model and the control model of a rotary-wing aircraft (quadricopter) using attitude displays with Euler angles and quaternions. Scilab is used to visualize the behavior of the aircraft. The validation of the models is done by comparing the results with another article, which presents its own models, using the same reference values. In the case of dynamic model validation, a script is used to modify the angular velocity of the aircraft’s engines. In the case of autopilot, it is desired to the quadcopter stay in an state of hovering at a certain height using a PD controller.
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References
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