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Quadrotor dynamics modelling using simulink

version (727 KB) by astroman2030
This simulator models the translational and rotational dynamics of a quadrotor.


Updated 26 Apr 2017

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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:

My Personal website:

Important - Please 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.

Cite As

astroman2030 (2021). Quadrotor dynamics modelling using simulink (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R12
Compatible with any release
Platform Compatibility
Windows macOS Linux

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