Mathematical Model used in UAV toolbox
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Greetings.
I want to obtain the mathematical model of the drone used by the UAV toolbox. This will help me develop some controllers based on the knowledge of the mathematical model of the drone. I was unable to find it in the UAV toolbox documentation .
Thanks in advance.
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Jianxin Sun
2021-6-3
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Jianxin Sun
2021-6-5
The control for roll and ptich angles are similar, their goal is to achieve a given roll/pitch angle with 0 angular velocity. Thus the PD controller is formulated as described in the doc page, with the modification I gave in previous comments. The controller can be see as ![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/642790/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/642790/image.png)
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