Abstract:
This thesis discusses the development of detailed mathematical model for specific type of UAV,
which has Vertical Takeoff and Landing (VTOL) ability, known as quadcopter. Mathematical
model of quadrotor in state space form is derived; it utilizes Newton and Euler equations for
three dimensional motions. This mathematical model is nonlinear and accurate enough including
the aerodynamic effects and rotor dynamics. Quadrotor dynamics can be divided into two
subsystems; translational subsystem and rotational subsystem. Translational subsystem is an
under actuated system as it depends on roll, pitch, yaw angles and the translational state
variables. The rotational subsystem is fully-actuated and only depends on the rotational states.
Then development of two control approaches to control the attitude and position of the quadrotor
in space is discussed. In first approach, Four PID controllers are designed to control the roll
angle, pitch angle, yaw angle and altitude respectively. Strategy to implement PID controllers on
nonlinear quadrotor model is discussed along with simulation results. In second approach,
Backstepping controllers are designed to control the roll angle, pitch angle, yaw angle, altitude
and positions. Simulation results after implementation Backstepping controllers on MATLAB
are presented.
