Efe. ―Experimental Model Based Attitude Control Algorithms for a Quadrotor Unmanned Vehicle

Abstract This paper focuses on modeling and control of a quadrotor type unmanned aerial vehicle (UAV). Low level control issues are addressed, the derivation of the dynamic model is presented, transient and steady state behavior of the propulsion due to motors are elaborated by the aid of artificial neural networks, and a model is developed. Several simulation works have been discussed. These include proportional integral and derivative (PID) control scheme, sliding mode control (SMC), backstepping technique and feedback linearization. A comparison of the approaches is presented in terms of the tracking precision, applicability of control signals and the qualities of the transient response