Özet:

In this paper, it is aimed to multipurpose quadcopter an extensive dynamic modeling of quadrotor for many purposes and trajectory tracking with the linearized model obtained. Quadrotor has different input and output and represented with state space form. Newton Euler equation is used to derived of system model. This equation predicts torque and forces generated by four propeller. In order to stable the altitude and trajectory tracking, PID controller has been designed Since the quadrotor flight system has non-linear features, turbulence modeling is added. In turbulence model, von Karman turbulence model was used. A simulation is conducted to analyze the control performance of quadrotor system. Control system of quadrotor and simulation designed with help of Matlab Simulink. This paper was given simulation results. This paper is one of rare studies that source on quadrotor modeling and control.

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