Modeling and GS-PID Control of the Quad-Rotor UAV

Abstract

A dynamic model of a four rotor vertical take-off and landing unmanned aerial vehicle known as quad-rotor UAV is presented in this paper. A Gain-Scheduling based PID control strategy is designed. The control mission processes includes a programmed path tracking and a fault-tolerant process. Simulation results, as well as the performance achieved with this control strategy are shown. Numerical examples illustrate the effectiveness of the proposed approach.