Linear vs. nonlinear control techniques for a quadrotor vehicle

The aim of this paper is to propose a nonlinear control algorithm that is able to stabilize the attitude and altitude of a quadrotor vehicle, and then to compare it with the classical techniques, such as PID and LQR. The nonlinear algorithm is based on the backstepping methodology integrated with the integral and adaptation schemes. It's called “Adaptive Integral Backstepping Controller” (AIBC). The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the quadrotor model. Furthermore, a quadrotor vehicle is designed and modeled in this paper to perform the controlling task.