Quadrotor modeling and control

Abstract

In this thesis a mathematical quadrotor model based on cascade modeling theory, using a passivity-based control solution is derived and presented. The rotation and translation cascades are rst decoupled, modeled mathematically and simulated separately to test individual control solutions and stability, followed by total system modeling and simulations to verify the control solutions and stability of the total system. Both the decoupled systems and the total system are able to track both xed positions and positions that change with time, such as the circle, helix and waypoint tracking. The simulation gures for the spiral trajectory tracking shows a growth in position error as the radius of the circle increases, indicating that the control solutions are struggling with increase in acceleration (jerk ), but is believed to be recti ed by additional compensation terms. Overall the system performs well, and can be presumed stable.