Flight Control and Simulation for Quadrotors during Grasping Rigid Target

Quadrotors has been used as a research platform and equipment in many fields, such as grasping forbidden aerial vehicles and transporting emergent medicine. How to assess the grasping performance and how to assure flight safety becomes an emergent issue. In this paper the model of the quadrotors with grasping mission was derived, based on the simplified model, attitude stabilization controller and position tracking controller were proposed, then under the MATLAB environment, the flight simulation was performed and the simulation results validate the effectiveness of the presented controllers.