A REVIEW ON LINEAR AND NONLINEAR CONTROL TECHNIQUES FOR POSITION AND ATTITUDE CONTROL OF A QUADROTOR

Ghulam Farid, Mo Hongwei, Syed Masroor Ali, and Qu Liwei

Keywords

Linear and nonlinear control, quadrotor, UAV, controller design

Abstract

This paper presents a comprehensive review study on different control techniques that have been used by different researchers for attitude stabilization, angular and position tracking control of a quadrotor aerial vehicle. A mathematical model of a quadrotor is recalled and presented, which expresses different nonlinearities present due to its aerodynamical and mechanical structure. The model is presented for good understanding of discussed control techniques. Control techniques are categorized into two major classes; linear and nonlinear control techniques. Different technical aspects of these control techniques are addressed and thorough discussion is presented regarding time response, asymptotic stability, computational complexity, disturbance rejection and parametric uncertainty handling. Finally, a comparative analysis is tabulated which addresses pros and cons of all control techniques discussed in this study. This survey study will help researchers to find detailed discussion on quadrotor-related problems and corresponding control algorithms.

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