Modeling and Control of a Quadrotor Unmanned Aerial Vehicles

Abstract

The purpose of this study is to conduct a comprehensive analysis of the system modeling of quadcopter unmanned aerial vehicles and to develop effective algorithms for controlling both the position and the flight path. The main focus is on testing and approbation of the developed systems both in a virtual simulation environment and on a real platform. The Crazyflie quadrocopter with open source code was chosen as the object of research, which provides flexibility in configuring and adapting control algorithms. The initial stage of the study includes the development of a mathematical model that describes the dynamics of a quadcopter. Then, a modeling environment is created that allows you to design and test the control architecture, including the use of cascading position tracking algorithms of the PID type. The built-in software for controlling the Crazyflie quadcopter is an innovative system based on a two-stage PID control scheme. This scheme provides precise and stable control of pitch and roll angles during flight. This two-stage PID control scheme provides high stability and precision control of the quadcopter in various flight conditions, allowing it to remain stable and controlled even with sudden environmental changes or mission requirements. Thanks to this technology, Crazyflie can successfully perform a wide range of tasks and be used in various fields, from academic research to industrial applications and entertainment purposes. The results of this study will contribute to a deeper understanding and implementation of nanoquadrocopter management strategies.