Modelling and simulation of quadrocopter control using cascaded PID controller in Matlab
Abstract
Modelling and simulation of quadrocopter control using cascaded PID controller in Matlab
Incoming article date: 17.02.2025The problem of modeling the dynamics and control of a quadrotor using a cascade control system based on a proportional‐integral‐derivative controller is considered. The main subject of the study is the development and simulation of a system that ensures the stable positioning of the quadrotor in the presence of external disturbances and limitations in the dynamic characteristics of the vehicle. The object of the research is the quadrotor as an unmanned aerial vehicle, while the subject is the cascade control system comprising an outer controller responsible for correcting position errors and an inner controller that maintains the stability of the vehicle’s orientation. The aim of the study is to create a mathematical model of the quadrotor’s dynamics and to implement a cascade control algorithm capable of converting position errors into control commands for adjusting the tilt angles. The work employs methods of mathematical modeling, discrete integration of the equations of motion, and cascade control algorithms implemented in MATLAB software. The simulation results demonstrate that the proposed control system significantly reduces the discrepancy between the current position of the vehicle and the specified target point, ensuring flight stability. However, residual errors have been identified, which are associated with the approximated models of motor dynamics and limitations on the maximum tilt angle, thereby necessitating further optimization of the control algorithms. The main conclusion of the study is that the developed cascade control system represents an effective solution for improving the positioning accuracy of the quadrotor and opens prospects for further research in the control of unmanned aerial vehicles
Keywords: quadrocopter, flight dynamics, mathematical modelling, cascade control, position controller, orientation controller, control optimisation