Dynamic modeling for high-performance controller design of a UAV quadrotor

Abstract

This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.