A Review of Control Algorithms for Autonomous Quadrotors  

作　　者：Andrew Zulu Samuel John 

机构地区：[1]Department of Mechanical and Marine Engineering, Polytechnic of Namibia, Windhoek, Namibia

出　　处：《Open Journal of Applied Sciences》2014年第14期547-556,共10页应用科学（英文）

摘　　要：The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback linearization, Adaptive, Robust, Optimal, L1, H∞, Fuzzy logic and Artificial neutral networks. The conclusion of this work is a proposal of hybrid systems to be considered as they combine advantages from more than one control philosophy.The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, Feedback linearization, Adaptive, Robust, Optimal, L1, H∞, Fuzzy logic and Artificial neutral networks. The conclusion of this work is a proposal of hybrid systems to be considered as they combine advantages from more than one control philosophy.

关 键 词：CONTROL ALGORITHMS Quadrotors INTELLIGENT CONTROL Optimal CONTROL ROBUST CONTROL Adaptive CONTROL LINEAR CONTROL Nonlinear CONTROL 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]