PD dynamic controller for designing and modelling of quadcopter control system

Abstract

— Due to their complex dynamics and a lot of potential in outdoor applications, Quadcopters have
created considerable interest in both the control community because of their advantages over standard aerial
vehicles.one of the most important issues in quadcopter design is the controllers design which impacts the
performance of tracking, position hold and disturbance over coming. In this paper presents design and a
new control method using a modified PD dynamic controller in which control parameters are systematically
determined based on intuitively desired performance and robustness metrics set by the designer that
introduced to it for better performance and Gain scheduling is one of the proposed enhancements that
presented through this paper. Also presented are simulation and experimental results showing the great
performance of desired quadcopters tracking position. The simulation results obtained with the use of
Matlab rev2018a,