Simulink-based Quadcopter Control System Model

This paper presents the results of the first stage of creating a multi-rotor unmanned aerial vehicle (UAV) simulation model in MATLAB Simulink. A quadcopter mechanical model based on Simscape Multibody library elements was developed. In addition, an angular position and flight altitude control model based on proportional-integral derivative (PID) controllers was designed using the standard Simulink libraries.