Abstract:
In this paper, a non-linear modal of quad-rotor aircraft is derived (which is an underactuated with six degrees of freedom (6DOF) is derived) using the basic laws of physics. The
derived model is highly unstable, so first the model is linearized and then a linear
multivariable control strategy is developed for the purpose of first stabilizing the aircraft and
secondly forcing the aircraft to follow a certain fix reference value. The performance of this
linear control strategy is evaluated using simulations on Simulink/MATLAB and the results
show the effectiveness of the LQR controllers.
