OPTIMAL CONTROL STRATEGY FOR QUADROTOR UAVS

Abstract

In this research work, the quadrotor dynamic model is derived using Newton-Euler approach. The paper presents the comparison of performance of modern and intelligent control strategies are applied to the modeled quadrotor model. The Linear Quadratic Regulator theory based modern controllers and hybrid PD-ANFIS controllers are designed and implemented to control quadrotor system. The performance of LQR and PD-ANFIS controller are compared for the modeled quadrotor. The system dynamic performance obtained with these controllers is compared and their investigations carried out are utilized to propose an optimal controller among these applied control schemes.