Abdirahman Musse Omar

NONLINEAR DYNAMIC MODELING AND PID ATTITUDE CONTROL OF A QUAD (+) CONFIGURATION UAV: A MATLAB-BASED SIMULATION STUDY

Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in aerial photography, search and rescue, surveillance, and logistics applications, yet their inherently unstable and nonlinear dynamics make controller design and validation a central challenge. This paper presents the derivation of a full twelve-stat...