Department Publications

This paper presents modelling, simulation and implementation of a quadrotor Unmanned Ariel Vehicle (UAV) Focus of this work is to gain in-depth understanding of quadrotor dynamics to develop a simulator and a laboratory platform to facilitate future development of control algorithms, automatic navigation systems, and trajectory planning for quadrotors. Quadrotor dynamics is modeled using Newton-Euler method. The model predicts the effects of the forces and torques generated by the four propellers on the quadrotor motion. Based on the model, a quadrotor simulator was developed in MATLAB® Simulink, on which various control algorithms can be developed and tested. A quadrotor prototype was built on which some of the control algorithms were tested experimentally in different environments to evaluate the stability and controllability of the platform. Experimental flight data and simulation results were …

quadrotor microaerial vehicles (MAVs) are simple robotic platforms with regard to their construction. In their basic form, they are no more than two counterrotating propeller pairs attached symmetrically to a rigid crosslike frame, along with the means to control the speed of each individual propeller. This symmetric design has enabled the quadrotor to become a simple but powerful vertical takeoff and landing aerial platform popular among the robotics community.