Nonlinear control of Quadcopter Dynamics : a comparative study of “PID” and sliding mode controllers

Abstract

This Dissertation investigates two methods for modeling and regulating a quadcopter using the conventional PID controller and Sliding Mode Control (SMC) on how we might model and regulate a quadcopter. Since it is straightforward and effective in many situations, PID is in great demand. Conversely, SMC is stronger when faced with uncertainty or external interference. The aim here is to use both control techniques, conduct simulations, and analyze their relative effectiveness in maintaining drone stability and control. This dissertation is divided into four chapters, each one focusing on a key part of the work.