Dynamic Modeling and Hybrid Control Design with Image Tracking for a Quadrotor UAV

摘要

The main purpose of the paper is to construct control laws for a quadcopter using different approaches. The first approach is the PID controller, that is very versatile and simple in comparison with other methods. On the other side, the LQR controller has robustness and good performance. Another important problem that considered in the paper is detection of moving objects using the camera installed on the quadcopter. The method of solution the problem is proposed. The results of its application are presented.