Modeling and simulation of three control techniques for UAV quadrotor

Abstract

This paper presents the modeling of a four rotor type unmanned aerial vehicle (UAV) called the quadrotor and three techniques to control its altitude, attitude, heading and position. The dynamic model of the quadrotor is nonlinear and has been derived using Newton's and Euler's laws. The first approach is designed using a linear Proportional-Integral-Derivative (PID) control technique. The second approach is based on a nonlinear Back-stepping controller while the third one is a gain Gain-Scheduling based PID controller. The Genetic Algorithm technique has been used to get an optimal tuning for the gains and parameters of the three mentioned controllers. MATLAB/Simulink software was used to evaluate and compare the three designed control approaches in terms of the stability, the effect of possible disturbances and the dynamic performance