Feedback control of quad-rotors with a matlab-based simulator

Precise regulation of position and attitude (roll, pitch and yaw) is one of the most critical tasks to be considered in designing controllers for quadrotor types of Unmanned Aerial Vehicles (UAVs). The MATLAB-based simulator for quadrotors using PD-feedback control to achieve stabilization was developed. MATLAB/Simulink models are used to design and validate the control algorithms and the simulation results are presented. The quadrotor non-linear dynamics and kinematics were implemented using MATLAB Sfunction to generate a continuous state output. The simulation results are presented graphically and quantitatively. The developed MATLAB GUI interface is robust and interactive to implement the different control algorithms under various operating conditions.