A Review of Control Algorithms for Autonomous Quadrotors
Systems and Control
2016-02-09 v1
Abstract
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback linearization, Adaptive, Robust, Optimal, L1, H-infinity, Fuzzy logic and Artificial neutral networks. The conclusion of this work is a proposal of hybrid systems to be considered as they combine advantages from more than one control philosophy.
Keywords
Cite
@article{arxiv.1602.02622,
title = {A Review of Control Algorithms for Autonomous Quadrotors},
author = {Andrew Zulu and Samuel John},
journal= {arXiv preprint arXiv:1602.02622},
year = {2016}
}
Comments
10 pages, 6 figures, 1 table