A Simulation Study for Practical Control of a Quadrotor

摘要

In this paper a thorough simulation study is performed and analyzed for practical control of a quadrotor. After a systematic construction of a control system, linear and nonlinear techniques are compared to see their performances on position control of a quadrotor. In the simulation heading-hold and heading-varying commands are tried and the feedback effects of Euler angular rates and body rates are also examined. Finally an effective technique for long distance guidance is proposed.