PD Control of Quadrotor Drone

This code presents a simulation of PD control of a quadrotor drone in point-to-point motion.
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Updated 15 Jan 2024

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This code shows a simulation of a drone in regulation control, and point-to-point motion using MATLAB software. The code is prepared in MATLAB script and the integration of the closed-loop system is done using the finite difference method.
The dynamics of the drone with graphical representation could be found in Section III of the following paper:
Nekoo, S. R., Acosta, J. Á., Gomez-Tamm, A. E., & Ollero, A. (2019, November). Optimized thrust allocation of variable-pitch propellers quadrotor control: A comparative study on flip maneuver. In 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) (pp. 86-95). IEEE.
The control is a simple PD design using a cascade scheme. The cascade scheme for SDRE for variable pitch rotors could be found in the mentioned reference, however, the PD design was not reported there due to simplicity.

Cite As

Nekoo, S. R., Acosta, J. Á., Gomez-Tamm, A. E., & Ollero, A. (2019, November). Optimized thrust allocation of variable-pitch propellers quadrotor control: A comparative study on flip maneuver. In 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) (pp. 86-95). IEEE.

MATLAB Release Compatibility
Created with R2023a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.3

Correction of the mixer matrix.

1.0.2

Adding mixer matrix and motors' relation to find angular velocities of the rotors and control based on that.

1.0.1

Text edition.

1.0.0