<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Given the recent surge in interest in UAVs and their potential applications, a great deal of work has lately been done in the field of UAV control. However, UAVs belong to a class of nonlinear systems that are inherently difficult to control. In this study we devised a mathematical model for a PID (proportional integral derivative) control system, designed to control a quadrotor UAV so that it follows a predefined trajectory. After first describing quadrotor flight dynamics, we present the control model adopted in our system (developed in MATLAB Simulink). We then present simulated results for the use of the control system to move a quadrotor UAV to desired locations and along desired trajectories. Positive results of these simulation support the conclusion that a quadrotor UAV spatial orientation control system based on this model will successfully fulfil its task also in real conditions.</p>
</abstract>

Given the recent surge in interest in UAVs and their potential applications, a great deal of work has lately been done in the field of UAV control. However, UAVs belong to a class of nonlinear systems that are inherently difficult to control. In this study we devised a mathematical model for a PID (proportional integral derivative) control system, designed to control a quadrotor UAV so that it follows a predefined trajectory. After first describing quadrotor flight dynamics, we present the control model adopted in our system (developed in MATLAB Simulink). We then present simulated results for the use of the control system to move a quadrotor UAV to desired locations and along desired trajectories. Positive results of these simulation support the conclusion that a quadrotor UAV spatial orientation control system based on this model will successfully fulfil its task also in real conditions.

A Mathematical Model for Controlling a Quadrotor UAV

Transactions on Aerospace Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"A Mathematical Model for Controlling a Quadrotor UAV"}

Given the recent surge in interest in UAVs and their potential applications, a great deal of work has lately been done in the field of UAV control. However,...

A Mathematical Model for Controlling a Quadrotor UAV

Published Online: Oct 08, 2021

Page range: 58 - 70

DOI: https://doi.org/10.2478/tar-2021-0017

Keywords
UAV control system, dynamics model, quadrotor, linearization

© 2021 Rafał Kowalik et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

A Mathematical Model for Controlling a Quadrotor UAV

Published Online: Oct 08, 2021

Page range: 58 - 70

DOI: https://doi.org/10.2478/tar-2021-0017

KeywordsUAV control system, dynamics model, quadrotor, linearization

© 2021 Rafał Kowalik et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
UAV control system, dynamics model, quadrotor, linearization