A toolbox for quadrotors: from aerodynamic science to control theory

Abstract : In this paper the quadrotor unmanned aerial vehicle (UAV) is studied. Aerodynamic forces and moments are explained together with aerodynamic coefficients and a complete quadrotor model is illustrated. After that, feedback control, trajectory generation and proportional integrative derivative (PID) control algorithms are applied. Notions of controllability, observability and area of attraction are also introduced. It is always very hard to conciliate aerodynamic science with control theory because of different hypothesis. Thus, the main focus of this paper is to group them to create a basic guide that lets the reader to understand how quadrotors work and how to build a first linear control effectively, covering aerodynamics and control background together. Important remarks are done to the simplifications of aerodynamic coefficients and flight dynamic equations useful for control theory. Two quadrotor Simulink models are provided together with the article. One is built using the highly nonlinear aerodynamic coefficients, the other with some simplifying hypothesis. Both of them use only blocks provided with basic Simulink environment to ensure a better compatibility with most of Simulink versions, avoiding integrated matlab functions and any other auxiliary toolbox.
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Contributor : Gabriele Perozzi <>
Submitted on : Tuesday, January 30, 2018 - 12:28:11 PM
Last modification on : Friday, April 19, 2019 - 4:55:26 PM
Long-term archiving on : Friday, May 25, 2018 - 8:43:29 PM


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  • HAL Id : hal-01696344, version 1



Gabriele Perozzi. A toolbox for quadrotors: from aerodynamic science to control theory. 2018. ⟨hal-01696344⟩



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