A comparative analysis of control strategies for stabilizing a quadrotor

Abstract

Isn’t it wonderful to see a floating body in the sky? Challenging multiple physics laws with remarkable control and stability. These are today’s flying vehicles. In this paper, the secret of this technique will be revealed differently. In the first place, the modeling of the system takes place using the Newton-Euler method allowing the balance of forces and moments on different parts of the manipulator, taking into account the disturbing factors acting on the aerial vehicle. It is therefore essential to design a controller (position and attitude) to ensure the stability of the floating body when following the desired set-point in the form of a 3D trajectory, a robust nonlinear controller based on the Lyapunov theory is designed. This latter has the ability to compensate the uncertain disturbing factors acting on the quadrotor. A comparative study of proportional-derivative (PD) and backstepping controllers comes to take place by comparing their performances using Matlab/Simulink as workspace environment to implement the plant model and different types of controllers.