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Hi All,

I've been trying to understand how to get a quadrotor helicopter under control against wind, keeping it in the planned path and speed, despite the wind.

I have got a set of equations (six of them to be precise -x,y,z,theta, phi and psi), all of them showing accelerations in the x,y,z and angular accelerations for pitch, roll and yaw.

I built a simulink model and tried to run simulations to predict how the quad should behave but it seems to be pitching violently.

I need to get the model working correctly and then find the inverse, which I intend to use to train the neural controller.

Please can someone give me any help on

- a set of quadrotor equations that will give me the best results

-ideas on how to build a good model, one that I can easily find the inverse.

-any other advice on how to achieve neural control of the quad.

Thanks.

Tim.