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Quadrotor dynamics modelling using simulink

4.5 | 12 ratings Rate this file 106 Downloads (last 30 days) File Size: 727 KB File ID: #42666 Version: 1.1
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Quadrotor dynamics modelling using simulink



16 Jul 2013 (Updated )

This simulator models the translational and rotational dynamics of a quadrotor.

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The following things are modelled:
- Quadrotor dynamics
- Motor dynamics
- Kalman filter for state estimation
- Simple sensor model/ ADC conversion

The following are not modelled:
- Propeller dynamics
- Control laws
- Power subsystem

This sim can be used for:
- System feasibility studies
- System performance assessment and trade-offs
- Control law performance evaluation

I am sorry but I do not entertain emails regarding any type of support.

Details about Quadrotor dynamics can be found in this paper:

My Linkedin page is:

Important - Pleae run KF_setp.m to initialize Kalman Filter variables.
Do not forget to declare system input variables and initial conditions once you are in the sim. Motor variables have to be declared by opening the "Motor Dynamics" block mask.

Required Products Simulink
MATLAB release MATLAB 6.0 (R12)
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Comments and Ratings (16)
15 Feb 2017 Dea Lana Asri

Thank you for the file.
I run the simulation but my "z displacement" turns out to be negative.
Can somebody tell me what's wrong?
thank you

06 Jun 2016 Saeed Tadayon

Dear sir,
I can't download the file!
Can you help me?
my email:

04 May 2016 wang meng

19 Oct 2015 liu jiaolong

thanks a lot for your model!

26 May 2015 Andrey Cassius

23 Sep 2014 guidance and navigationtional control

23 Jul 2014 Roberto Colella

22 Mar 2014 Hirsh

Hirsh (view profile)

07 Feb 2014 Felix R. CaƱadillas

Why an array of three elements how input (voltage) of actuator is used?
What units for the actuator's output do you use? rad/s, rpm or fps?

Comment only
21 Nov 2013 Lo Jovan


21 Nov 2013 Balaji Shankar Kumar

Load the KF_setup.m file to initialize the filter variables.

Comment only
14 Nov 2013 Michael Ernst

All in all the model seems to be sophisticated, but still the same error whit Hmat (Hmat is not defined...) in the Kalman-Filter (correction) subsystem. Please help! Otherwise the model is not realy helpfull... Thx a lot!

24 Sep 2013 wu hugh

could you explain how the declair the Hmat matrix? I donot know how to that too.thx!

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22 Sep 2013 karthi

karthi (view profile)

how to set matrix variable in HMAT section..

19 Sep 2013 Balaji Shankar Kumar

Karthi -You need to declare the HMAT matrix in the matlab workspace to get rid of the eroor.

Comment only
11 Sep 2013 karthi

karthi (view profile)

In the KF correction task,HMAT error will be occured.
Plz help me

20 Nov 2013 1.1

Kalman Filter setup file now provided with the package.

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