Abstract

Unmanned Aerial Vehicles are subject to a range of disturbances during flight, including sensor noise, strong winds and turbulence, nonlinear pattern changes, and time delays. These effects can have a significant impact on the flight quality and control of Unmanned Aerial Vehicles. As a result, there has been a growing interest in researching Unmanned Aerial Vehicle control methods. Among the various types of Unmanned Aerial Vehicles, quadrotor Unmanned Aerial Vehicles have become an ideal choice for the generation and development of control algorithms, due to their nonlinearity and susceptibility to disturbances. In this study, a quadrotor model was developed and compared with linear and nonlinear control algorithms. Linear and nonlinear control designs were developed using the obtained model, and orientation control of the quadrotor was achieved. Among the linear control methods, Proportional Integral Derivative and Linear Quadratic Regulator were preferred, while Sliding Mode Control was preferred among the nonlinear control methods. The performance and step responses of the designed controllers were then observed.