Application of advanced control in quadrotor UAVs

Abstract

its dynamic behavior.Four control approaches were implemented and evaluated to control the altitude, attitude, heading and posi-tion of the quadrotor. These include classical controllers such as PID and PD, a linear optimal controller (LQR), and two advanced nonlinear techniques Back- stepping and Sliding Mode Control (SMC).The controllers were implemented in MATLAB, and simulation experiments were carried out to assess their dynamic performance and stability. The results demonstrated that all four controllers yielded comparable performance in terms of rise time, settling time, and over-shoot, yet each presented distinct characteristics.PD Control is simple and effec-tive, providing a fast response, but exhibited overshoot and a small steady-state error. Backstepping Control maintained a fast response and good performance, though it also suffere dfro movershoo tan drequire dcarefu ltunin gdu et oits sensitivity to parameters.Sliding Mode