Feedback Control of Quad-Rotors with a Matlab-Based Simulator | Science Publications

American Journal of Applied Sciences

Sun Yi¹  Stephen Armah¹  Wonchang Choi¹  Dongchul Shin¹ 

关键词: Quadrotor;    UAVs;    PD-Feedback Control;    GUI;    Euler Angles;    MATLAB S-Function;   

DOI  :  10.3844/ajassp.2016.779.793

学科分类：自然科学（综合）

来源: Science Publications

【 摘 要 】

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.

【 授权许可】

Unknown