Research on control strategies for the stabilization of quadrotor UAV

摘要

Recently, quadrotors have drawn the attention of many researchers, which is due principally to the broad range of military and civilian purposes [1]. In this paper, three kinds of control strategies (PID, Sliding mode and Backstepping) are adopted to address the control problem of the quadrotor. Firstly, the mathematical model of the quadrotor is presented, and then the classical approach PID is directly applied. Secondly, due to the under-actuated property of the quadrotor, the Sliding mode and Backstepping controller can make the quadrotor track the reference signals of the positions and the yaw angle, and meanwhile guarantee the stability of the pitching and rolling motions. Finally, the simulation using Matlab-Simulink is carried out and the results show that the three proposed techniques can achieve a good performance.