sebastianbrzustowicz/quadcopter-control-system

MATLAB/Simulink. Quadcopter control system simulation based on linear controller and extensive visualisation.

Quadcopter simulation in MATLAB/Simulink

Main objective was to model and design the control system for the quadcopter in simulation.
Auxiliary scripts help to obtain the parameters of a specific physical quadcopter.
Regulation method for attitude is PD approach.
It is possible to use other control systems on the existing model.

Simulation example result

In a simulation it is possible to adjust trajectory or attitude as desired.

Position and attitude control:

Visualisation of output data (sine wave desired altitude):

Visualisation of output data (sine wave desired roll angle):

Control system structure:

Folders

model - MATLAB/Simulink source files for simulation
Moment_of_inertia - script for specifying quadcopter model parameters (rigid body)
Motors_characteristics - script for specifying quadcopter model parameters (motors)
Tensometer_calibration - script for calibrating a measuring tool