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Implementation Of Simulink Controller Design On IRIS+ Quadrotor

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Technical Report

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Naval Postgraduate School Monterey United States

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The thesis has two primary objectives. First, it develops a high-fidelity 6DOF flight dynamics model of a multi-copter UAV, and uses it for the design and implementation of the linear attitude controller onboard of an industrial quadcopter both steps are implemented in Simulink. Second, it leverages the weakly joint efforts of MathWorks and the open-source community to build a software setup that enables rapid control software prototyping. This software architecture enables control system design and integration without the need for proficiency in embedded coding that typically utilizes high-level programming languages like CC. The higher impact of the dual objective is in advancing methods and tools of verifiable control system design and the embedded code generation that simplifies the V and V process. The 3DR Iris quadrotor, equipped with PX4 Pixhawk autopilot, is selected as the primary prototyping platform. The autopilot allows for the real-time execution of an application attitude controller that is auto-generated from MatLabSimulink. This makes the Iris quadrotor an ideal platform for rapid flight control prototyping by using MathWorks auto code generation capability. Ultimately, the developed setup represents a convenient research and development tool that natively bridges the gap between the safety-critical flight control science and flight experimentation technology by eliminating the error-prone manual coding of embedded microcontrollers.

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