Simulation-Based Development of Quadcopter Dynamics and Control

A tétel rövid nézete
dc.contributor.advisorKis, Károly Árpád
dc.contributor.authorRadec, Milica
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2025-12-12T14:49:52Z
dc.date.available2025-12-12T14:49:52Z
dc.date.created2025-12-01
dc.description.abstractUnmanned Aerial Vehicles (UAVs), particularly quadcopters, have seen an explosion in use, yet their nonlinear, coupled, and underactuated dynamics make control a challenging problem. This thesis presents a comprehensive simulation-based platform developed in MATLAB to model quadcopter flight dynamics and evaluate control strategies without the risks of hardware testing. A physically accurate nonlinear mathematical model was derived, incorporating rigid-body dynamics, motor response, and environmental disturbances. Two control architectures, a cascaded PID controller and a Linear Quadratic Regulator (LQR), were designed and subjected to comparative analysis under nominal and disturbed conditions. Results demonstrate that while PID provides baseline stability, the LQR controller offers superior trajectory tracking, robustness, and disturbance rejection. This work establishes a validated framework for future advanced control development and hardware integration.
dc.description.courseMechatronical Engineeringen
dc.description.degreeBSc/BA
dc.format.extent74
dc.identifier.urihttps://hdl.handle.net/2437/399820
dc.language.isoen
dc.rights.infoHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectQuadcopter, Flight Dynamics, MATLAB Simulation, PID Control, LQR Control
dc.subject.dspaceEngineering Sciences::Engineering
dc.titleSimulation-Based Development of Quadcopter Dynamics and Control
Fájlok
Eredeti köteg (ORIGINAL bundle)
Megjelenítve 1 - 1 (Összesen 1)
Nincs kép
Név:
Quadcopter Dynamics and Control.pdf
Méret:
1.35 MB
Formátum:
Adobe Portable Document Format
Leírás:
Megjelenítés
Engedélyek köteg
Megjelenítve 1 - 1 (Összesen 1)
Nincs kép
Név:
license.txt
Méret:
1.69 KB
Formátum:
Item-specific license agreed upon to submission
Leírás:
Letöltés
Gyűjtemények
Theses (Department of Electrical Engineering and Mechatronics)