Optimization of nonlinearities through control techniques of the quadrotor aerial vehicle

Abstract

The kinematic and dynamic analysis is applied to the task of controlling and maneuvering the quad-rotor. Here, an evaluation and discussion of the PD (Proportional Derivative) controller is used to navigate the vehicle as it performs basic translational and rotational motions. A comparison is made between the advantages and disadvantages of the controller through the evaluation of the effects of nonlinearities such as atmospheric noise, sensor drift and noise, acceptable range of additional payload and inertial values as well as limitations of maximum rotor speed. Lastly, the most discussed means of quad-rotor optimization are evaluated.