Abstract
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback linearization, Adaptive, Robust, Optimal, L1, H-infinity, Fuzzy logic and Artificial neutral networks. The conclusion of this work is a proposal of hybrid systems to be considered as they combine advantages from more than one control philosophy.
Highlights
The quadrotor unmanned aerial vehicle (UAV) are helicopters with four rotors typically designed in a cross configuration with two pairs of opposite rotors rotating clockwise and the other rotor pair rotating counter-clockwise to balance the torque
This survey acts as a stepping stone into further work that will be conducted by the authors on control of quadrotors with tilting propellers
The tilting propellers further increase the number of actuated inputs to give six control inputs for six control outputs, which makes the quadrotor fully actuated
Summary
The quadrotor unmanned aerial vehicle (UAV) are helicopters with four rotors typically designed in a cross configuration with two pairs of opposite rotors rotating clockwise and the other rotor pair rotating counter-clockwise to balance the torque. The quadrotor does not have complex mechanical control linkages due to the fact that it relies on fixed pitch rotors and uses the variation in motor speed for vehicle control [1]. These advantages come at a price as controlling a quadrotor is not easy because of the coupled dynamics and its commonly under-actuated design configuration [2]. The dynamics of the quadrotor are highly non-linear and several uncertainties are encountered during its missions [3], thereby making its flight control a challenging venture This has led to several control algorithms proposed in the literature.
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