Dynamic Analysis and Control of a Quadrocopter

Quadrocopter is an aerial vehicle platform which has become very popular among researchers in the recent past due to the advantages it offers over conventional helicopters. Quadrocopter is very simple structure, but it is inherently unstable from aerodynamics point of view. The first step before the control stage is presenting the adequate modeling of the system dynamic. This paper presents the dynamic model of quadrocopter as regarding to Newtons Laws with kinematic equations. Presented model is simulated with Matlab-Simulink for testing translational and rotational situations. And it is figured out that; presented model is acting like a real quadrocopter. Finally a PID controller designed for stabilize the altitude of modeled quadrocopter.