Modelling and trajectory tracking of a quadrotor using MATLAB Simulink, Simscape and ROS-Gazebo.

The goal of this Master Thesis consists on defining and building a multi platform simulation environment for quadrotors, this environment can be used to collect data from different platforms and compare the results of position and attitude controllers in different simulators. The main focus of this work regards the analysis and replication of different models in several simulation platforms. In particular, two mathematical models will be analysed and simulated in MATLAB Simulink, a Simscape model will be simulated in the Simscape Multibody environment and finally the quadrotor is replicated and simulated in Gazebo 7 with ROS Kinetic. Several controllers are designed in Simulink and deployed on ROS Gazebo. This allows to simulate the deployment of such controllers in real hardware and to evaluate their performances thanks to the data collected in ROS. The resulting data is then analysed thanks to some Key Performance Indicator. The testing experiment consists on the tracking of a reference trajectory starting from the resting position on the ground. The controller with the best performance in this experiment is the smooth Sliding Mode Controller.