Trajectory tracking control of multirotors from modelling to experiments: A survey

Regular Papers Robot and Applications

DOI: 10.1007/s12555-015-0289-3

Cite this article as:
Lee, H. & Kim, H.J. Int. J. Control Autom. Syst. (2017) 15: 281. doi:10.1007/s12555-015-0289-3
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Abstract

Multirotors have received a great attention from researchers and the general public, as a platform on which various ideas can be easily demonstrated. This paper aims to provide background materials by categorizing various representations of multirotor dynamics and existing control approaches for multirotor control. First, many ways of expressing the translation and the attitude dynamics of a quadrotor UAV are described. Second, linear and nonlinear control laws are reviewed considerably. Finally, we show various types of flight test-beds configured for validating the controller. In experiments, the performance of linear and nonlinear controller are described.

Keywords

Autonomous control multirotor quadrotor review trajectory tracking 

Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea