Trajectory Control of Quadcopter in Matlab Simulation Environment

Abstract

An unmanned aerial vehicle (UAV) is an autonomous aircraft without a pilot and passenger. UAVs are also called drone. However, while drone is used to refer to any type of UAV in the common language, it mainly refers to UAV mostly used in military context. UAVs and today's competent usage areas are mentioned in this study. A detailed examination of quadcopters, which is a four-engine unmanned aerial vehicle, is given and it is emphasized why simulation is necessary for UAVs. The implementation of the study is carried out in Matlab-Simulink and the quadcopter is simulated in the Matlab environment. Two different simulation processes are considered in the study and with the Simulink model used for the first simulation, the trajectory tracking problem is tried to be overcome by adding a direct Eulerrate script instead of the PD controller output. A second simulation is needed to fly the UAV in a circular trajectory. When the results obtained for both simulations are examined, it has been determined that the second simulation provides a more periodic trajectory tracking than the first simulation.