Modeling and attitude stabilization of indoor quad rotor

This paper presents the dynamics and control of a small-scale quad-rotor using custom-built frame, off-the-shelf avionics, motors and batteries. The modeling part incorporates the airframe and motors dynamics as well as aerodynamic and gyroscopic effects. The modeling process includes analytical equations and experimental identification of different parameters which is difficult to be estimated analytically. The control part incorporates different classical schemes such as PID, PD, and derivative only feedback. A simulator of the complete system was built using Matlab and Simulink. The control code was written in C and was implemented in a PIC microcontroller. A prototype was built and tested with the selected controller to show good stabilization and good matching with the simulator.