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What is Quadrotor

Chapter 14
Handbook of Research on Advancements in Robotics and Mechatronics
A class of UAV that flies with the aid of four separately powered rotors.
Published in Chapter:
Dynamic Modeling and Control Techniques for a Quadrotor
Heba Elkholy (American University in Cairo, Egypt) and Maki K. Habib (The American University in Cairo, Egypt)
Copyright: © 2015 |Pages: 47
DOI: 10.4018/978-1-4666-7387-8.ch014
Abstract
This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.
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