Comparison of the different control strategies for Quadrotor Unmanned Aerial Vehicle

摘要

The quadrotor is a flying robot belonging to the multirotor family. He has several features that give it several advantages over other types of flying robots. But despite all its advantages, the quadrotor has a highly non-linear and fully dynamic coupled, hence the need for a robust and stable control. In this work, firstly, the Newton-Euler method is used to obtain the dynamics model of the quadrotor, nonlinear controllers based on the Lyapunov theory are designed. Secondly investigates the comparison between the three synthesis of nonlinear control strategies, including feedback linearization, backstepping and sliding mode control approaches. for the autonomous navigation of a quadrotor. Furthermore, the simulation results of the three controllers are performed using MATLAB/Simulink.