Contribution to quadrotor modeling and attitude stabilization based on an adaptive flight control strategy

Abstract

A quadcopter drone is a complex mechatronic system. This study highlights the recent developments in UAVs, with a particular focus on quadruple-type multi-rotor UAVs. These UAVs have gained attention due to their suitable performance, wide applications, advantages in hover ability, maneuverability and low cost of implementation. However, designing an efficient controller to ensure the robust flight capabilities of the quadrotor remains a challenge. This work addresses these challenges by presenting a comprehensive approach to the dynamic modeling and control design of a quadrotor. First, an overview of the UAV configuration, a review of the literature on quadrotor control methods, and in particular adaptive control. Second, we explain the details of modeling the quadrotor drone, including the mathematical model derived using Euler-Newton formalism. Also, we design the control laws to stabilize and track using PID and Backstepping controllers. Simulations were performed using MATLAB Simulink for various controllers scenarios to validate the results. Finally, we make a scenario where a quadrotor has an asymmetric geometry and varying mass, using a control approach with an adaptive method to estimate unknown system parameters. The research concludes with an evaluation of the work and offers perspectives for future research.