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Design and Development of a Non-Linear Controller for Quadrotor type Unmanned Aerial Vehicle

This paper presents non-linear modelling and simulation of a quadrotor type Unmanned Aerial Vehicle (UAV), and development of a controller for the same. The nonlinearities in the system along with the equations defining the same are studied extensively. The quadrotor is modelled using the mathematical equations in the MATLAB-Simulink environment, with each dynamic block governed by the corresponding equations. Experiments are carried out to further evaluate the coefficients of the proposed nonlinear controller for the quadrotor system and its performance evaluated.