Simulation of quadcopter motion control in virtual environment systems

Abstract

The article considers the problem of quadcopter dynamics simulation and control in virtual environment systems. The proposed solution of this problem is based on the application of a mathematical model of quadcopter dynamics on the assumption that roll and pitch angles are small. In turn, the rotor dynamics is realized through a mathematical model of the electric motor based on its passport parameters. In this work, the feedback linearization method is used to control the quadcopter. With the application of this approach, the quadcopter’s horizontal motion is achieved by the obtained expressions for the roll and pitch angles. The methods and approaches proposed in this article were implemented within the virtual environment complex and were tested on the example of a quadcopter model with control by a virtual remote controller.