A Comparative analysis of flight control for an autonomous aerial delivery vehicle

Abstract

This work explores a comparative analysis of fligh tcontro lfo ra nautonomou saeria ldelivry vehicle, specificall yapplie dt omedica lassistanc ei nemergenc yan dnatura ldisaste rscenarios. The study begins with an overview of drone technology, including classification san dapplications. It then delves into mathematical modeling, focusing on quadcopter dynamics and control systems. Two distinct control methodologies, linear PID control and 5th generation of Sliding mode control(Continuous Nonsingular Terminal Sliding Mode contoller), are synthesized and simulated. The comparative analysis evaluated the performance of the linear PID controller and the CNSMC approach for the QBall 2 quadrotor system. We assessed their behavior under normal conditions, and the CNSMC controller demonstrated superior resilience to perturbations compared to the PID controller. This makes CNSMC the preferred choice for real-world applications where stability and adaptability are crucial.