Mathematical Modeling and Simulation of Quadcopter UAV Using PID Controller
There has been a lot of experimental, analytical and computational work carried out in field of robotic systems for quadcopter UAV in the last two decades. In the recent times, focus has shifted to analytical solutions particularly to ensure balancing and accurate trajectory control in quadcopters with a need for better accuracy. The developed models are simulated and simplified and even improvised using an appropriate software tool. MATLAB is very popularly used for analysis and validation of the models developed. The modeling of such systems was done based on first principles of kinematics and dynamics. Specifically, a large tracking error is produced in the quadcopter system due to the external disturbances, which poses problems in controller design. Hence, in this work, firstly kinematics is framed from a different perspective. This is followed by an effective use of Jacobi method to derive equations with respect to the body frame of reference and inertial frame of reference. Solutions have been obtained for important parameters such as linear acceleration, angular acceleration and torque.