Combined Quadrotor Autopilot System and Differential Morphing System Design

The aim of this article is to design and model a quadrotor with autopilot system differential morphing using the Simultaneous Perturbation Stochastic Approximation (SPSA) optimization algorithm. Along morphing, modelling control was also done. Although it simple in structure, has complex structure terms control. Newton-Euler method used for dynamic model. Non-linear motion equations have been converted linear equations. full drawn Solidworks program. Mass moment inertia information obtained from Simulation created by state space approach Matlab / Simulink environment. Proportional integral derivative (PID) algorithm as structure. Differential PID coefficients rates were determined SPSA. With method, determining rate, applying provides very innovative method.