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In this paper, we present a model of a four rotor unmanned air vehicle (UAV) known as quadrotor aircraft. Quadrotors have generated considerable interest in both the control community due to their complex dynamics and military because of their advantages over regular air vehicles. The model is used to design a stable and accurate controller. Main aim of this paper is to achieve stable hover, with addition of variations in altitude based on human input for thrust. This paper explains the developments of a PD control method and sliding mode control for a fully-actuated subsystem of a quadrotor to obtain stability in flying the Quadrotor to a stable hovering position. The model has four input forces which are basically the thrust provided by each propeller.
Date of Conference: 11-13 March 2012