Trajectory tracking of a quadrotor using stabilizing mechanism

In this paper, the effect of using a stabilizing mechanism in trajectory tracking of a quad-rotor unmanned aerial vehicle has been investigated. Two different stabilizer mechanisms are designed. The first one is a spherical pendulum stabilizer and the second one is a cross stabilizer. Then, appropriate controller is designed for each stabilizer mechanism. The performance of the system is investigated in the presence of disturbing forces. Obtained results show that instead of using complicated nonlinear control methods, the proposed stabilizer mechanism yields a desired performance. Acceptable trajectory tracking shows the effectiveness of the proposed stabilizers.