This master's thesis from the Czech Technical University in Prague describes the modeling, identification, and control of an unmanned quadcopter. The thesis presents the nonlinear mathematical model of the quadcopter's dynamics. It then describes the identification experiments performed to determine parameters of the propeller, engine, and aerodynamic models. Linear controllers are designed for the vertical, yaw, longitudinal, and lateral movements based on a linearization of the nonlinear model. The performance of the linear controllers is verified in simulations of the original nonlinear model.
This master's thesis from the Czech Technical University in Prague describes the modeling, identification, and control of an unmanned quadcopter. The thesis presents the nonlinear mathematic…