Modelling and control of a hexarotor UAV

Abstract: This thesis is a study of modelling and control of a multirotor unmanned aerial vehicle(UAV). On behalf of Intuitive Aerial, a model of their hexarotor aircraft has been developedas a tool in further development and testing of their product. The potential of using ModelPredictive Control (MPC) as control method for multirotor UAV:s has also been evaluated.The model was successfully implemented in MATLAB/Simulink, as was the Model Predic-tive Controller. Quaternion angle representation has been used to avoid singularities in themodel and non-linear dynamics have been included in the simulation model. Unknownmodel parameters have been estimated with data acquired from testing. Model validity hasalso been evaluated with flight data gathered from flights using a test vehicle. A basic MPCformulation has been expanded to include reference tracking, integral action and to ensurestability.Assessment proved the model to be feasible but in need of more rigorous evaluation to guar-antee good performance. The MPC controller showed promising performance compared toa linear feedback controller.