Modeling, Simulation and Control of Quad-copter UAV

Abstract

In the recent years UAV(Unmanned Aerial Vehicle) having quad-rotor helicopter or quad-copter configuration have been receiving increasing attention amongst the global researchers due to its wide-range of applications such as surveillance in military,civilian and disaster management applications.This report presents the investigation of the modeling,control simulation,altitude range analysis and validation of a quad-rotor helicopter and forms part of M.Tech thesis involving the development of an unmanned aerial vehicle(UAV)to be used in different applications.Quad-rotor helicopters consist of two pairs of counter rotating rotors situated at the ends of a cross,symmetric about the centre of gravity,which coincides with the origin of the reference system used.These rotors provide the predominant aerodynamic forces which act on the rotorcraft,and are modelled using momentum theory as well as blade element theory.From this,one can be determine the expected payload capacity and lift performance of the rotorcraft.The Euler Lagrange method has been used to derive the defining equations of motions of the 6 DOF system.Based on this model,a close loop control strategy was developed using PD,PID,Backstepping controller.A numerical simulation was then conducted using MATLAB.