A Review of Control Algorithms for Autonomous Quadrotors

TL;DR

This paper reviews various control algorithms for autonomous quadrotors, analyzing their strengths and weaknesses, and proposes hybrid systems to leverage multiple control strategies for improved performance.

Contribution

It provides a comprehensive analysis of existing control algorithms for quadrotors and introduces the idea of hybrid control systems combining different approaches.

Findings

Different algorithms have unique advantages and disadvantages.

Hybrid control systems can potentially improve quadrotor performance.

The review guides future research in control strategies for UAVs.

Abstract

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-infinity, 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.