Modeling of a Quadcopter Trajectory Tracking System Using PID Controller

A quadcopter is a type of Unmanned Aerial Vehicles (UAV) with four propellers and ability to take-off/landing in limited space. In the past few years, quadcopters have become an integral part of life. Therefore, in this paper, first, mathematical model of the quadcopter is created and it based on the equation of motion and forces of the moment using the Newton-Euler method. Secondly, a cascaded PID controller is designed to track the given trajectory. The chosen model is made to hover at an altitude where the nonlinear model is linearized. In addition to that, the response of the linear and nonlinear model is analyzed and the PID controller for the nonlinear model is designed and the results are analyzed.