Modeling and control of autonomous quadrotor

Abstract

In this work, a detailed mathematical model for a quadrotor UAV is presented. The non- linear model has been derived using both Newton’s and Euler’s laws and then linearized around an equilibrium point. Three linear control techniques were developed to control the quadrotor’s altitude, attitude, heading and position in space; a linear Proportional-Integral- Derivative, or PID, controller, a linear Proportional-Derivative, PD, Controller and a PD based Gain Scheduling Controller. Ziegler-Nichols for tuning PID has been used to tune the PID and PD parameters and Genetic Algorithm has been used to tune the PD based Gain Scheduling controller. Simulation based experiments have been conducted using MATLAB/SIMULINK to evaluate and compare between the three developed approaches in term of dynamic performances, stability and disturbance effects.