Abstract
Parrot Rolling Spider/minidrone is one of the most favoured quadcopters around the world which is used for academic and experimental purposes. This paper deals with the mathematical modeling of kinematics and dynamics of the parrot minidrone, employing linear feedback controller for stabilizing the system and a comparative analysis of altitude control of Parrot minidrone using Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) control techniques. Matlab/SIMULINK software was used for simulating the plant response. The Simulink support package for parrot minidrones was used for obtaining the parameters of the system. All the studies and simulations conducted in this paper are based on kinematics and dynamics of parrot minidrone. The highly nonlinear plant model is linearized around equilibrium points and a linear feedback controller is employed for stabilizing the system.
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