A Comparative Study for Control of Quadrotor UAVs

Modeling and controlling highly nonlinear, multivariable, unstable, coupled underactuated systems are challenging problems to which a unique solution does not exist. control of Unmanned Aerial Vehicles (UAVs) with four rotors fall into that category problems. In this paper, nonlinear quadrotor UAV dynamical model is developed the Newton–Euler method, architecture proposed for 3D trajectory tracking. The controller design decoupled two parts: an inner loop attitude stabilization outer A few methods discussed, implemented compared, considering following approaches: Proportional–Integral–Derivative (PID), Linear–Quadratic Regulator (LQR), Model Predictive Control (MPC), Feedback Linearization (FL) Sliding Mode (SMC). This paper intended serve as guideline work selecting quadcopters’ strategies, both in terms quantitative qualitative considerations. PID LQR controllers designed, exploiting linearized about hovering condition, while MPC, FL SMC directly exploit model, minor simplifications. fast dynamics ensured by SMC-based together its robustness limited estimated command effort make it most promising stabilization. consists three independent controllers: one altitude other two, dynamics’ inversion, entitled computation reference loop. capability controlled closed-loop system executing complex trajectories demonstrated means simulations MATLAB/Simulink®.