ABSTRACT

This chapter describes the modelling, simulation and controller design for a quadrotor micro aerial vehicle that was designed and developed following a systematic approach under severe time and cost constraints. Modelling and simulation technologies for aerospace systems have advanced to the level where much of the uncertainty in the development process can be ironed out during ground-based simulations, thus obviating the need for repeated trials and modifications. In parallel with the modelling and simulation exercise, components are procured and the quadrotor assembled. The model is then used to design a controller which is implemented in software and integrated with the model. Simulations of the closed-loop system are then carried out to verify its stability and response characteristics. The digital simulation is then integrated with a joystick and an open-source flight simulator to evaluate the vehicle flying qualities before being cleared.