Mechanical Modeling, Control and Simulation of a Quadrotor UAV

This paper presents the development of a quadrotor 3D-Model based on a new approach integrating both the flight controller and the quadrotor CAD-model (Computer-aided design). The quadrotor design is performed using CAD modelling environment, then imported to MATLAB Simscape for the design of the control scheme based on the PID (Proportional-Integral-derivative) controller. The effectiveness of the offered flight simulator system is tested using several predefined trajectories and the simulation results of each trajectory emphasize the accuracy of the proposed simulator.