Gain scheduling control for a quadrotor based on proportional derivative controller

Abstract

In this study, a linear PD (proportional-derivative) controller and a PD-based Gain Scheduling Controller are used to regulate the quadrotor's altitude, attitude, direction, and position in space. The simulation was carried out using the MATLAB/Simulink program, and the objective function was set to reduce the discrepancy between the controlled parameter's desired and actual values. When operating in hover position, the suggested controllers were successful in stabilizing the quadrotor at the specified altitude. Comparing the gain-scheduling and PD controllers' capacities to follow a changing altitude and attitude trajectory.