Using Simulink Support Package for Parrot Minidrones in nonlinear control education

In this paper we deal with nonlinear control design for Parrot Mambo or Parrot Rolling Spider quadcopters using Simulink Support Package for Parrot Minidrones. A full rigid body model of the flying vehicle that doesn't assume smallness of the Euler angles is considered. For synthesis of the control the nonlinear dynamics inversion and integrator backstepping approaches are used. Block diagrams illustrate how the control laws are applied to Parrot Minidrone flight control. Exercises to design nonlinear Parrot Minidrone control algorithms as Simulink Subsystem blocks are suggested.