Advanced control techniques for quadrotor

Abstract

This study presents the complete modelling and control of a quadcopter for reference-trajectory tracking. The vehicle dynamics are derived with the six-degree-of-freedom Newton–Euler formulation expressed in Euler angles, while aerodynamic and disturbance effect sar ebounde db y astandar dhover-level approximation. Three nonlinear controllers are implemented and compared: n outer-loop Backstepping law, a robust Sliding-Mode Controller (SMC), and an Adaptive PID extension that retunes its gains online. The full nonlinear state-space model is coded in Python, each controller is simulated under identical hover-to-trajectory scenarios. Performance is assessed in terms of position and attitude tracking error, closed-loop stability, control effort ,an ddisturbance ejection capability. Results confir mtha tal lthre eapproache skee pth equadcopte ron the desired path, with the adaptive PID providing the best trade-of fbetwee nrobustness and control economy.