Oruc, O., & Singleton, E., & Williams, A. B., & Skenes, K. (2025, March), A Systematic Teaching Method for Modeling, Simulation and Control of Quadrotor Uncrewed Aerial Vehicles   Paper presented at 2025 ASEE Southeast Conference , Mississippi State University, Mississippi. 10.18260/1-2--54138

\bibitem{asee_peer_54138}
  Oruc, O., \& Singleton, E., \& Williams, A. B., \& Skenes, K. (2025, March), \emph{A Systematic Teaching Method for Modeling, Simulation and Control of Quadrotor Uncrewed Aerial Vehicles }
  Paper presented at 2025 ASEE Southeast Conference , Mississippi State University, Mississippi.
  10.18260/1-2--54138

Oguzhan Oruc, Eva Singleton, Andrew B. Williams, and Kevin Skenes.  "A Systematic Teaching Method for Modeling, Simulation and Control of Quadrotor Uncrewed Aerial Vehicles ".  2025 ASEE Southeast Conference , Mississippi State University, Mississippi, 2025, March.  ASEE Conferences, 2025.  https://peer.asee.org/54138 Internet.  18 May, 2025

\bibitem{asee_peer_54138}
  Oguzhan Oruc, Eva Singleton, Andrew B. Williams, and Kevin Skenes.
  "A Systematic Teaching Method for Modeling, Simulation and Control of Quadrotor Uncrewed Aerial Vehicles ".
  \emph{2025 ASEE Southeast Conference , Mississippi State University, Mississippi, 2025, March}.
  ASEE Conferences, 2025.
  https://peer.asee.org/54138 Internet.  18 May, 2025

@INPROCEEDINGS{asee_peer_54138
author = "Oguzhan Oruc, Eva Singleton, Andrew B. Williams, and Kevin Skenes"
title = "A Systematic Teaching Method for Modeling, Simulation and Control of Quadrotor Uncrewed Aerial Vehicles "
booktitle = "2025 ASEE Southeast Conference "
year = "2025"
month = "March"
address = "Mississippi State University, Mississippi"
publisher = "ASEE Conferences"
note = {https://peer.asee.org/54138}
number = {10.18260/1-2--54138}
}

TY  - CPAPER
AB  - Recent advancements in microelectronics, machine perception, and computational technologies
have enabled the use of Uncrewed Aerial Vehicles (UAVs) rapidly and extensively in industrial,
scientific, and military areas with various purposes such as surveillance and security, monitoring
and inspection of urban infrastructure, transportation of commercial goods, law enforcement,
surveying and mapping of large areas, disaster response, crop and soil sampling.
Due to its interdisciplinary nature, high interest from commercial, scientific, and military
investors, and expanding application areas, UAV research, development, and manufacturing
attract scientists and engineers from almost all disciplines. Furthermore, as artificial intelligence
(AI) revolutionizes various engineering areas such as aviation, robotics and automation,
and healthcare, UAV research will also be revolutionized and will attract even more future
engineers.
Considering that preparing future engineers for the jobs of tomorrow is one of the most important
responsibilities of engineering educators, including UAV modeling simulation and control
design study in mechanical engineering curricula is crucial.
In their study, the authors proposed a systematic teaching method for the fundamentals of UAVs
such as mathematical modeling, control design, and the numerical simulation of UAV control
systems for a newly designed undergraduate elective course (Advanced Topics in
Engineering-400 level) module which is offered in the Mechanical Engineering of a national
university.
The first step of their method is to obtain a mathematical model of a small-scale quadcopter. A
quadcopter is a four-rotor UAV that is placed on a rigid body in square formation to control the
vehicle’s motion in all degrees of freedom (DOF). Obtaining the mathematical model of the
quadcopter requires examining translational kinematics, rotational kinematics, translational
dynamics, and rotational dynamics to form the equations of motion (EOM). Additionally, to
obtain the necessary forces and moments, thrust configuration determination and obtaining the
motor dynamics are also other parts of the modeling step.
The second step of the proposed method is to design the fundamental controls for the quadcopter.
For a stable flight, a nested control loop which consists of three individual loops is proposed. The
individual loops are the translational position controller, orientation and altitude controller, and
rotational velocity controller.
The third step is to numerically simulate the obtained model and control system. A numerical
simulation software is used for simulations. Simulation results are compared to that of a real test
flight and presented.
The unique contributions of this study to engineering education are:
• Enabling the students to use their mathematical control theory background gained in 350
and 351 courses in real-life scenarios such as UAV control problems.
• Developing a systematic control design method for UAVs, quadrotors in particular.
• Supporting undergraduate research with mathematical control theory in UAV research,
design, and application.

AU  - Oguzhan Oruc
AU  - Eva Singleton
AU  - Andrew B. Williams
AU  - Kevin Skenes
CY  - Mississippi State University, Mississippi
DA  - 2025/03/09
PB  - ASEE Conferences
TI  - A Systematic Teaching Method for Modeling, Simulation and Control of Quadrotor Uncrewed Aerial Vehicles 
UR  - https://peer.asee.org/54138
DO  - 10.18260/1-2--54138
ER  -