Comparison of Cellular Network Controllers for Quadrotors Experiencing Time Delay

This paper presents a control framework including delay estimator, state estimator, and controller to compensate for random time delays in cellular networks. The effect of network delay on the control of a quadrotor is investigated. A comparative study is done between a linear-based PD and nonlinear Backstepping controller. A time delay estimator based on the Markov stochastic model is developed. The combination of the time delay estimator and the state estimator is used to compute the control signal. Results show that the performance of both controllers in low-variation delays is approximately equivalent. According to the results, the linear-based PD controller is a good choice since it satisfies the problem conditions with a more straightforward design process.