Design of Nonlinear Aero Controller and Simulation for Quadrotor Unmanned Aerial Vehicles

This paper mainly presents development of nonlinear model of quad rotor unmanned aerial vehicles (named as QUAV-X4), design of nonlinear aero controller and analyzing stabilization of the model. Firstly, we introduce the principle of flight of quad rotor briefly. Secondly, with application of blade element theorem [1] and analysis of aerodynamic characteristics of QUAV-X4, the aero model is derived. Finally, designing a nonlinear control system, based on PID technique and Back stepping method [2], and simulation for observing the stabilization.