PID and MRAC control of a Quadrotor

A Quadrotor is an Unmanned Aerial Vehicle (UAV) which has four rotors. It is a non-linear multivariable system which is highly underactuated. Voltage-based approach using Newton-Euler technique is used to derive the quadrotor's equations-of-motion. These equations are then used to develop a Simulink model and the output responses for roll, pitch and yaw angles are achieved. First, a PID controller is used and then, Model Reference Adaptive Control (MRAC) technique is used. The results obtained for both the control techniques are compared with respect to their response to a step input and the settling time of the output response.