Nonlinear modeling and position control of an industrial quadrotor with on-board attitude control

Here we present the development of a nonlinear dynamic model of an industrial quadrotor with on-board attitude control. Based on this model, we show quite simple controllers for the three space coordinates and the leading of the aerial vehicle. At first, the dynamics of movements within 3D-coordinates are modeled and validated separately. All necessary data are determined by flight experiments and physical interrelationships. Afterwards, the resulting models are combined to one dynamic model with four degrees of freedom implemented in Matlab/Simulink^® and quite simple external controllers are designed by well known methods. Finally the nonlinear model and the controllers are validated by flight experiments.