Abstract
This paper focuses on modeling and controlling a nonlinear quadcopter plant system using two different approaches. The first represents a pure mathematical model calculated based on Euler Lagrange formalism using only Matlab/Simulink environment, the second one shows a physical model (CAD model) imported from Solidworks to Simscape multibody which include a 3d simulation environment. The controller part of both models are constituted from two cascaded loop, an inner-loop for attitude control and an outer-loop for position and altitude control. Finally, in order to make sure that the result obtained in the simulation environment matched the real implementation, the paper offers a processor-in-the loop simulation using as a hardware target LAUNCHXL-F28377s.
Published Version
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