Quadcopter simulation in MATLAB/Simulink

Main objective was to model and design the control system for the quadcopter in simulation.
Auxiliary scripts help to obtain the parameters of a specific physical quadcopter.
Regulation method for attitude is PD approach.
It is possible to use other control systems on the existing model.

Simulation example result

In a simulation it is possible to adjust trajectory or attitude as desired.

Position and attitude control:

Visualisation of output data (sine wave desired altitude):

Visualisation of output data (sine wave desired roll angle):

Control system structure:

Folders

model - MATLAB/Simulink source files for simulation
Moment_of_inertia - script for specifying quadcopter model parameters (rigid body)
Motors_characteristics - script for specifying quadcopter model parameters (motors)
Tensometer_calibration - script for calibrating a measuring tool

Citation

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APA Style

Brzustowicz, S. (2023). Quadcopter-control-system: Quadcopter simulation in MATLAB/Simulink (Version 1.0.0) [Source code]. https://github.com/sebastianbrzustowicz/Quadcopter-control-system

BibTeX

@software{brzustowicz_quadcopter_control_2023,
  author = {Sebastian Brzustowicz},
  title = {Quadcopter-control-system: Quadcopter simulation in MATLAB/Simulink},
  url = {https://github.com/sebastianbrzustowicz/Quadcopter-control-system},
  version = {1.0.0},
  year = {2023}
}

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