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Controller Modeling of a Quadrotor

Abstract:

Dynamic modeling and control are research fields that hake kept the attention of researchers over the last decades. In this paper we describe a detailed approach to model, design and simulate a feedback controller for a quadrotor with the aim of giving the reader a detailed procedure to obtain the dynamic model and link this model with a controller design strategy. For this purpose, the dynamic model of the Parrot AR. Drone 2.0 was obtained using the Newton-Euler formulations. Next, the model was converted to the state space, and it was linearized to get the equations to perform a controller gain estimation process. Finally, the performance of state feedback controller visualized for both the linear and nonlinear models. Results shown that, the challenging goal of stabilizing the quadrotor at a desired trajectory, in short time without overshoot problems, can be achieved by means of a simple control strategy.