A Survey of Control Methods for Quadrotor UAV

Abstract

Flight control design of unmanned aerial vehicles UAVs is becoming increasingly important due to advances in computational power of computers with lower cost. The control algorithms are mainly employed for the attitude and position control of the UAVs. In the past decades, quadrotors have become the most popular UAVs, their adaptability and small size. They are employed to carry out tasks such as delivery, exploration, fumigation, mapping, surveillance, rescue mission, traffic monitoring, and so on. While carrying out these tasks, quadrotor UAVs face various challenges, such as environmental disturbances, obstacles, and parametric and non-parametric perturbations. Therefore, they require robust and effective control to stabilize them and enhance their performance. This paper provides a survey of recent developments in control algorithms applied to attitude and position loops of quadrotor UAVs. In addition, the limitations of the previous control approaches are presented. In order to overcome the relative drawbacks of the previous control techniques and enhance the performance of the quadrotor, researchers are combining various control approaches to obtain the hybrid control architecture. In this study, a review of the recent hybrid control schemes is presented.

Огляд Методів Керування Безпілотними Літальними Апаратами

“…Проте, розвиток глобальної системи позиціонування (GPS), електроніки, двигунів і мікроконтролерів спонукав виробників створювати легші і дешевші дрони. Тепер дрони широко використовуються для багатьох невійськових цілей, таких як оцінка врожаю, дослідження клімату та навколишнього середовища, надання першої медичної допомоги, туризм, моніторинг дорожнього руху і погодних умов тощо [2].…”

“…Питання керування безпілотними літальними апаратами часто розглядається дослідниками. Робіт і досліджень багато [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16]. У роботах автори розглядають методи основані на лінійні квадратичні регуляторах, пропорційно-інтегральних похідних, регуляторах з ковзним режимом та ін.…”

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

“…accuracy of the analytical model will be improved by considering the effect of using differential thrust control. Further studies also need to be carried out, although the modeling is more complex, which combines fixed wing [90][91] and copter control [92][93] [94], as well as aircraft transition phase [95]. The ultimate and main goal in UAV modeling and simulation is to create a safe and reliable system with a fast time [96].…”

The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System

“…The Proportional Integral derivative (PID) controllers with simple structure have been in use for many years in industries for process control applications [13][14] [15][16] [17][18]. This regulator is obtained by the association of three parameters 𝐾 𝑝 (Proportional Constants), 𝐾 𝑖 (Integral Constants) and 𝐾 𝑑 (Derivative Constants) in designing the controllers, the goal is to get the optimal system response according to the desired design specifications [19] [20] [21] [22].…”