Journal of Automation and Control
ISSN (Print): 2372-3033 ISSN (Online): 2372-3041 Website: Editor-in-chief: Santosh Nanda
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Journal of Automation and Control. 2017, 5(2), 60-63
DOI: 10.12691/automation-5-2-6
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Mathematical Modeling of Vertical Position Stability of Quadrocopter

Michal Kelemen1, Ivan Virgala1, , Tomáš Lipták1 and Milan Škurka1

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia

Pub. Date: December 11, 2017

Cite this paper:
Michal Kelemen, Ivan Virgala, Tomáš Lipták and Milan Škurka. Mathematical Modeling of Vertical Position Stability of Quadrocopter. Journal of Automation and Control. 2017; 5(2):60-63. doi: 10.12691/automation-5-2-6


The paper deals with investigation of position stability of quadrocopter in vertical axis. At first, dynamic model of quadrocopter is introduced. In the paper are derived relations for control error in steady state for PD and PID controller. Based on dynamic model the PID controller is designed by optimizing method. Using designed controller the quadrocopter stability in vertical axis was simulated in software Matlab. The results of the simulation are discussed in the conclusion.

dynamic model modeling quadrocopter simulation

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