Control design for trajectory tracking of quadrotor UAV

Abstract

This work studies the modeling and control of the quadcopter. The Newton-Euler method is used to develop the quadcopter's nonlinear dynamic model, and design controllers for attitude and trajectory tracking. Two subsystems describe the motion of the quadcopter; a rotational subsystem for altitude and heading, and a translational subsystem for position. Three controllers were proposed to achieve position tracking, the PID controller, the Fractional Order PID controller and the Sliding Mode controller. The controllers were implemented on the quadrotor model using Matlab/Simulink. Finally, the performance of thE proposed controllers was demonstrated in a simulation study and analysis.