The dynamic behavior of quadrotor has been published in varying complexity particularly, the model we used is based on, where an extended mathematical description by the full consideration of nonlinear coupling between the axes is presented. Therefore, a suitable control system for stabilizing the closed loop control system is required to do this, various control techniques, linear and nonlinear, have been implemented such as control PD, control PID, control of position and orientation by vision, sliding mode control, fuzzy logic, and adaptive control in. Quadrotors are a kind of mini-UAV’s with vertical take-off and landing, controlled completed through four rotors mounted on each end of the crossed axes, which provide lift forces for the quadrotor move, this vehicle is very popular in the research community due to their special features like strong coupling subsystems, unknown physical parameters, and nonparametric uncertainties in inputs and external disturbances. In the last decades, advances in technology and costs reduction permitted to adopt this technology in civil applications such as aerial photography, video and mapping, pollution and land monitoring, powerline inspection, fire detection, agriculture, and among other applications. Since then, they are being widely used in military missions such as surveillance of enemy activity, airfield base security, airfield damage assessment, elimination of unexploded bombs, etc. However, it was not until the World War I that UAVs became recognized systems. In the 1883, an Englishman named Douglas Archibald provided one of the world’s first reconnaissance UAVs. One of the first applications of these vehicles was aerial photography. In the beginning, they were solely used for military purposes.

Unmanned aerial vehicles (UAVs) are aircrafts that do not require a pilot on board to be controlled.

Quadcopter simulink model download