Abstract

The quadcopter is an inherently unstable, nonlinear system that requires effective control strategies to maintain stable flight. This seminar presents the modeling and control of quadcopter attitude dynamics in an inverted pendulum configuration, focusing on roll, pitch, and yaw motion. The work begins with the derivation of the nonlinear attitude model using Newton–Euler formulations, followed by linearization around hover conditions. The stability analysis confirms open-loop instability, motivating the design of a PID-based feedback controller. The controller parameters were tuned to achieve desired transient performance—specifically reduced rise and settling times with minimal overshoot. Simulation results demonstrate significant improvement in stability and response characteristics, validating the effectiveness of the designed controller. This study contributes to understanding and controlling underactuated aerial systems and provides a foundation for future work in nonlinear and real-time control implementation of UAV platforms.

About the Speaker

Mr. Ahmed Abdelrazeq is a Graduate Student in the Control and Instrumentation Engineering Department at King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia. He obtained his bachelor's degree in Mechatronics Engineering from Assiut University, Egypt, in 2022, where he graduated with Distinction and ranked first in his class. His research interests include UAV dynamics, autonomous systems, and real-time control implementation.