Quadrotor control: modeling, nonlinearcontrol design, and simulation

Abstract: In this work, a mathematical model of a quadrotor’s dynamics is derived, usingNewton’s and Euler’s laws. A linearized version of the model is obtained, andtherefore a linear controller, the Linear Quadratic Regulator, is derived. Afterthat, two feedback linearization control schemes are designed. The first one isthe dynamic inversion with zero dynamics stabilization, based on Static FeedbackLinearization obtaining a partial linearization of the mathematical model.The second one is the exact linearization and non-interacting control via dynamicfeedback, based on Dynamic Feedback Linearization obtaining a total linearizationof the mathematical model. Moreover, these nonlinear control strategiesare compared with the Linear Quadratic Regulator in terms of performances.Finally, the behavior of the quadrotor under the proposed control strategies isobserved in virtual reality by using the Simulink 3D Animation toolbox.