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QuadRotor_Simulatio​n.zip

version 1.0.0.0 (23.4 KB) by Tai-Sik
Quadrotor simulation

48 Downloads

Updated 02 May 2014

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This is PID controllers based quadrotor simulation.
The dynamics of quadrotor is implemented with [1].
References
[1] Modelling, Identification and Control
of a Quadrotor Helicopter, Tommaso Bresciani, ISSN 0280-5316
[2] A. Das, K. Subbarao, F. Lewis, "Dynamic inversion with zero-dynamics
stabilisation for quadrotor control"
[3] A. Benallegue, A. Mokhtari and L. Fridman, "High-order sliding-mode observer for a quadrotor UAV"
[4] Travis Dierks, and Sarangapani Jagannathan, "Output Feedback Control of a Quadrotor UAV Using Neural Networks"
[5] Z. Zuo, "Trajectory tracking control design with command-filtered compensation for a quadrotor"

Comments and Ratings (10)

qi han

Dear Tai-Sik,
I've been downloaded your "QuadRotor_Simulatio​n.zip" and run it on MATLAB. It's really a great job, but I have few questions:
1. Why do we need a PI controller to control the DC motor? Isn't that just the actuator? (Although the simulation goes wrong without the PI control and I don't understand).
2. What's the units after the position PID and attitude angle PID controller? Is it the acceleration of attitude angle? That is, what does "z_2dot_d, phi_2dot_d, theta_2dot_d, psi_2dot_d" stand for?
Sorry for my poor English and appreciate your contribution again. Looking forward to your reply!

qi han

Chenyu Zhao

cao kaifa

Dear,
I want to how can I change PID model, now I try to change it, it shows that you cannot modify this link bacause it is either locked or inside another locked link,thanks in advance!

cao kaifa

good work

Khanh

Dear,
That is a great work, thanks so much!
I tried to replace quadrotor by hexarotor but I can not find out suitble PID controllers.
Anyone can help me here?
Thanks in advance!
Link for simulink program:
https://drive.google.com/file/d/0BwhZQwA-wh20N1Q1R0ViOGx5WE0/view?usp=sharing

Khanh

Salah Nasr

good

Bing

there is something error

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux