Modelling and Control of a Quadrocopter
Keywords:
PQuadrocopter, quadrotor, control, flying robot, VTOL aircraft, robotAbstract
The paper describes model and development of full control of a quadrotor aerial robot. The mathematical model of quadrotor is nonlinear system based on Newton law of motion of rigid body. Control system of the quadrotor is designed with help of state variable approach and also with help of corresponding physical approach which was inspired by the former one. The quality of the model and its control is tested by simulation and on a real flying model as well.
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