Modeling a Quadrotor Unmanned Aerial Vehicle and Robustness Analysis of Different Controller Designs under Parameter Uncertainty and Noise Disturbance

Abstract

Recent progresses in microelectromechanical system sensor technologies, energy storage devices, actuators and data processing enable development of micro unmanned aerial vehicles. This study gives information about modeling a micro vertical take-off landing unmanned aerial vehicle and robustness analysis of different controller designs. Different types of controllers developed for altitude and attitude control of an unmanned aerial vehicle. Altitude and attitude reference tracking performance of nonlinear controllers were analyzed. The effect of parameter uncertainty and noise disturbance on the reference tracking were also examined. Various simulations were performed under different conditions, and performance of the controllers compared with each other. Reference tracking performance and robustness analysis against parameter uncertainties and noise disturbance of controllers evaluated in the last section.