Dynamic modeling and stabilization of quadrotor using PID controller

Abstract

Mathematical modeling and simulation of an unmanned aerial vehicle, specifically, quadrotor modeling is not an easy task because of its complex structure, nonlinear dynamics and under-actuated nature. In this paper a dynamic model of a quadrotor has been developed using MATLAB/SIMULINK software platform. The aim is to model a quadrotor vehicle as realistic as possible. The model is then used to design a PID controller structure to stabilize the roll, pitch and yaw angles of the quad rotor system. The developed systems id tested successfully for number of numerical simulation runs.