Tracking and Robust performance of Firefighter Quad-copter

In this paper, a fireproof firefighter quadcopter with the kelvin fibre aramid material is covered around the firefighter model, which makes it fireproof and can withstand fire up to 500degree Celsius. The firefighter quadcopter mathematical model is derived using the Newton-Euler method. The non-linear system dynamics were linearized near the operating point using the Taylor Series method. Different linear controllers Proportional Derivative (PD), Proportional Integral (PI) and Proportional Integral Derivative (PID) are designed for the linearized model to satisfy the desired closed-loop performance based on the rootlocus method. Transient responses and steady-state performances of the different linear controllers are compared based on the obtained simulation results. Further, the robust performance controller is found, among the PD and PID controllers is compared with including and excluding load parameter uncertainty.