Control algorithm research of quadrotor system based on 3-DOF simulation platform

Quadrotor is a classical multi-input and multi-output system, which is non-linear, complicated and dynamically unstable. In this paper, 3-DOF mathematical model of quadrotor is described at the begining, and then attitude controllers making use of PD, LQR and backstepping are put forward for quadrotor. Finally, the comparison of results between simulations with and without pulse interference is carried out. The results show that both LQR and backstepping perform adequently as attitude controllers with respect to PD algorithm. Furthermore controller based on Backstepping method obtains satisfactory response, which is of no overshoot and quick regulation.