Abstract
Quadrotor UAVs have been widely used in many fields due to their merits of flexible maneuverability, vertical take-off as well as landing, and hovering. To achieve successful engineering applications, effective motion control of quadrotor UAVs should be guaranteed. This paper conducts a comparative study of motion controller designs for the quadrotor UAV. First, the commonly used attitude representation methods are compared and analyzed, and the dynamic model expression of the quadrotor UAV is established. Then, three typical motion controllers are introduced, which are the PID controller, integral backstepping controller, and fuzzy robust controller. Finally, based on the QDrone as well as the related experimental platform, the performance of these three controllers is tested. Some discussions are carried out based on the experiential results, which excepts to provide some guidance to the flight control system design for quadrotor UAVs.
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