Design of Non Linear Control of Quadrotor Unmanned Aerial Vehicle(UAV)

摘要

Quadrotor UAVs are four rotor unmanned micro aerial robots. The two rotors on longitudinal axis rotate in clock wise direction remaining two rotors on lateral axis rotate in anti clock wise direction. The relative speed of the rotors is varied to have quadrotor move in vertical and lateral direction. The quadrotor we consider is under actuated system having six outputs and four inputs, and are highly coupled. Quadrotor UAVs are often used for surveillance, transportation and photography as well as in military and commercial applications. Quadrotrors have simple construction and are highly maneuverable. However, stabilizing control of velocity and attitude of quadrotors is a difficult task because of the nonlinear dynamic behaviour. This paper presents attitude and velocity control of quadrotor uav using PID and Feedback Linearization.