Topic 1: Development of trajectory tracking of quadrotor UAV
Student: Nur Ainina binti Yazid (2016/2017)
Abstract:
This report gives an alternative mathematical approach for the controller of quadcopter. The study starts from ensuring the stability of the transfer function before proceeding to the closed-loop system simulation. It is important to understand the common feature of this approach before continuing to achieve the objective of the study including the development in trajectory tracking. The following steps explain the rough insight on what will be done in this assignment.
- Mathematical modelling of quadrotor
- PID Analysis of the Control Law
- Designing Simulink Linear Model
- Trajectory Tracking Test for Vertical Flight
The equation of motions used might be different with other published paper depending on the modelling chosen for the vehicle. This paper however focused on the linear modelling of the closed loop system. A set of input variables that we want to control is chosen as z (4), y (4),x (4), but this inputs must first be linearized and decoupled before it can be connected to the rotor dynamics block.
