Modeling and control of mini unmanned aerial vehicles (UAV)

Abstract

In this work, a detailed mathematical model for a Vertical Takeoff and Landing type Unmanned Aerial Vehicle known as the quadrotor is presented. The nonlinear dynamic model has been derived using Newton's and Euler's laws. Three control approaches were developed to control the altitude, attitude, heading and position of the quadrotor in space. The first approach is based on a linear Proportional-Integral-Derivative (PID) controller. The second developed controller is a nonlinear Back-stepping controller while the third one is a gain Grain-Scheduling based PID controller. The Genetic Algorithm technique has been used to get an optimal tuning for the fore mentioned controllers (gains and parameters) and, hence, improving the dynamic response. Simulation based experiments were conducted using MATLAB to evaluate and compare between the three developed control techniques in terms of dynamic performance, stability and possible disturbances effect.