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PD Control Quadrotor - Simulink



05 Apr 2013 (Updated )

This file contains the simulink simulation of the PD control of a Quadrotor. Quadrotor model is take

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This file contains the simulink simulation of the PD control of a Quadrotor. Quadrotor model is taken from Dr. Bouabdallah's PhD thesis found also in the file. The PD control is enough to control the quadrotor in disturbance free situations.
The “big” Omega I used in my model is actually “Gamma” found in the quadrotor dynamics. The controls can be calculated from the rotors’ speeds, so using the same equations reversely we can find the rotors’ speeds out of the controls (solve for the rotors’ speeds using the upper equations, 4 equations with 4 unknowns).
γ is the effect of rotor speeds on the system. In general there are no sensors put on the quadrotor to measure its rotors’ speeds, so we can’t calculate gamma in practical and it is assumed as disturbance. Gamma is calculated using the four rotors’ speeds as:
Gamma = omega1 - omega2 + omega3 - omega4 : The resultant effect of all the rotors.
What I did is calculating omegasquare of each rotor, used omegasquares to calculate gamma, then recalculate the controls.

Required Products MATLAB
MATLAB release MATLAB 7.8 (R2009a)
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Comments and Ratings (11)
28 Apr 2015 su feng

Hi, thanks for sharing the model,may I know how you form the equation for omegasqr calculator?

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12 Feb 2015 mira ismail

may I know how you form the equation for Omegasqr 1,2,3,4? I already reverse the equation of the rotor speed, but I cant get exactly as yours. How did you include the constant of the lever? or I may get the wrong idea. please help me.. TQ :)

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12 Aug 2014 abdulhakim  
19 Jul 2014 Theo kemo

I dont get how you came up with the equation used in the PD controller subsystem for U1,U2,U3,U4..can you please ellaborate?

06 Jul 2014 Yuhara

Yuhara (view profile)

23 May 2014 HARIK

HARIK (view profile)


I would like to thank for your contribution, but i would like to make a remark, the model you used for the Quadrotor, is the model for to be used for controllers, thus you needed a more complete model to test the real effect of the PD controller (taking into account hence, hub forces and rolling moments that were neglected and thrust and drag coefficients that were supposed constant).

07 Apr 2014 kamil

kamil (view profile)

Firstly thanks for the model. my name is Kamil, and i'm Phd student. I have a few questions for you. D2R conversion is necessary in the control of z-axis? there is great omega calculation but I didn't understand why such calculation is made? the calculations in this way are performed for the initial value(U1,U2,U3,U4=omega)?
my email kml.orman@gmail.com , can you send me a example model for linear x and y motion control.


03 Mar 2014 mohammad shahid

asslamoalequm Mr. Razzak. my name is Mohammad Shahid, and i am a Phd student. sir my request is please can u provide me the equation used to model omegas or just provide me the reference for the same. my email id is msjmi09@gmail.com. please sir help me. i am in the middle of something and stuck because of this.

Allah hafiz

19 Feb 2014 Muzzaffar

Hi, I have one question regarding the model, can you please tell which equation you used to calculate OMEGA from the thesis you have attached with this model. I dnt understand how did to find OMEGA Quadrotor model subsystem,


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27 Oct 2013 Masoud Ghanbari

Great Code

15 Oct 2013 Oliver Young

thanks for sharing the model. works

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10 Apr 2014 1.1

I received many questions about "big" Omega, so I add clarifying ideas about it.

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