https://github.com/sebastianbrzustowicz/quadcopter-control-system

MATLAB/Simulink. Quadcopter control system simulation based on linear controller and extensive visualisation.
https://github.com/sebastianbrzustowicz/quadcopter-control-system

control-system control-systems drone matlab model model-params quadcopter simulation simulink stabilization-control-algorithm visualization

Last synced: about 2 months ago
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MATLAB/Simulink. Quadcopter control system simulation based on linear controller and extensive visualisation.

• Host: GitHub
• URL: https://github.com/sebastianbrzustowicz/quadcopter-control-system
• Owner: sebastianbrzustowicz
• License: other
• Created: 2023-12-10T21:03:50.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2023-12-20T18:49:17.000Z (about 1 year ago)
• Last Synced: 2024-01-29T10:34:09.321Z (11 months ago)
• Topics: control-system, control-systems, drone, matlab, model, model-params, quadcopter, simulation, simulink, stabilization-control-algorithm, visualization
• Language: MATLAB
• Homepage:
• Size: 80.1 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md

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README

        
# Quadcopter simulation in MATLAB/Simulink

Main objective was to model and design the control system for the quadcopter in simulation.   

Auxiliary scripts help to obtain the parameters of a specific physical quadcopter.   

Regulation method for attitude is PD approach.  

It is possible to use other control systems on the existing model.  

## Simulation example result

In a simulation it is possible to adjust trajectory or attitude as desired.

Position and attitude control:



  

  



Visualisation of output data (sine wave desired altitude):

![Altitude_sine](https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/61c91293-be52-4cb9-950e-3c093b689976)

Visualisation of output data (sine wave desired roll angle):

![Orientation_sine](https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/fb353c09-91c2-4ed5-84b0-7c3b71f74747)

Control system structure:

![Closed_loop_quadcopter](https://github.com/sebastianbrzustowicz/Quadcopter-simulation/assets/66909222/7360aa53-fd18-4b61-8b31-a34e55ddf3c1)

## Folders

`model` - MATLAB/Simulink source files for simulation   

`Moment_of_inertia` - script for specifying quadcopter model parameters (rigid body)   

`Motors_characteristics` - script for specifying quadcopter model parameters (motors)  

`Tensometer_calibration` - script for calibrating a measuring tool