Bond Graph Model-Based Control of the Quadcopter Dynamics

This paper presents graphical modeling and control of the quadcopter dynamics. A quadcopter is an under-actuated system with nonlinear dynamics. For stabilization of such complex system, it is necessary to have a nonlinear control. Therefore, a model-based control is developed for the altitude (height) and attitude (roll, pitch, and yaw) control of the quadcopter dynamics. The dynamic model of quadcopter is developed using a power-based graphical modeling tool, called bond graph. Subsequently, the bond graph model is used to develop altitude and attitude control of the quadcopter. Finally, the developed algorithm is validated through simulation.