Quadcopter are widely used for variety of applications due to its small size. Quadcopter also called Quadrotor helicopter, is popular as unmanned aerial vehicle (UAV). The responses for heading, altitude, x-position and y-position are acceptable. are obtained using auto tuning and fined using manual tuning. The model is controlled using a PID controller. The rotational subsystem is fully actuated whereas the translational subsystem is underactuated. The quadcopter's model is divided into two subsystems rotational subsystem (roll, pitch and yaw) and translational subsystem (altitude, x and y position). A detail derivation of the mathematical model of Quadcopter is presented. It has six degrees of freedom but only four actuators which make it very difficult to be controlled. The quadrotor project still facing some drawbacks and challenges since it is a highly nonlinear, underactuated system. Because of their dependability, cost effectiveness, and multi-functionality, they are frequently used in many locations. Surveillance, military operations, fire detection, agriculture, spyware, and a variety of other applications are all new to it. A quadcopter is a form of unmanned aerial vehicle with several rotors.
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