Modelling and Simulation of Quadrocopter Control Using Cascaded Pid Controller in Matlab

The paper addresses the problem of modeling and controlling quadrotor dynamics using a cascade control system with a proportional-integral-derivative (PID) controller. The primary objective is to develop and simulate a control system ensuring stable quadrotor positioning under external disturbances and dynamic constraints. The quadrotor is the research object, and the cascade control system, consisting of an outer position controller and an inner orientation stability controller, forms the research subject. The goal is to derive a mathematical model describing quadrotor dynamics and implement a cascade control algorithm converting positional errors into tilt angle adjustments. Mathematical modeling, discrete numerical integration, and MATLAB-based simulations form the research methodology. Simulation results indicate the developed cascade control system significantly reduces positional discrepancies, enhancing flight stability. However, residual errors persist due to approximations in motor dynamics and maximum tilt angle constraints, suggesting room for algorithm optimization. The study concludes that the proposed cascade control approach effectively improves quadrotor positioning accuracy and presents opportunities for further research in unmanned aerial vehicle control.