Nonlinear Modeling and Robust Control of a Quadrotor UAV under Uncertain Parameters and White Gaussian Noise

Abstract

Latest progresses in sensors and information systems have accelerated the progress of unmanned aerial vehicles. Quadrotor unmanned aerial vehicles (UAVs) have the ability to take off and land vertically. Thanks to this feature, unlike conventional unmanned aerial vehicles, it does not need a long runway to take off. Its four propellers and vertical takeoff and landing feature give it the ability to hover and maneuver like helicopters. In this study, nonlinear modeling and robust controller design of a quadrotor UAV under parameter uncertainty and white Gaussian noise disturbance are explained. Nonlinear modeling of the Quadrotor UAV was done using MATLAB/Simulink. Altitude reference and attitude angles following capabilities of the quadrotor UAV have been tested with various simulations under ideal conditions, under uncertain parameters and under white Gaussian noise. The obtained results show that the robust controller can successfully track given references under normal conditions, under uncertain parameters and under noisy conditions. © 2021 IEEE.