Quad rotor arial robot dynamic modeling and configuration stabilization

In this paper, we propose a nonlinear control scheme for attitude stabilization of 4 rotor vertical take off and landing (VTOL) aerial robot known as the quad rotor rotorcraft. A nonlinear dynamic model of a 6 DOF underactuated quad rotor aerial robot is derived based on Newton-Euler formalism. The proposed controller is based upon the compensation of the Coriolis and gyroscopic torques and the use of a PD feedback structure for altitude and yaw channel and the use of backstepping based PID technique for the rotational control, where the proportional action is in terms of the Euler angels and the derivative action is in terms of the airframe angular velocity. We used optimization algorithm to get the proper design parameters values. With the compensation of the coriolis and gyroscopic torques, our controller provides asymptotic stability for our problem. Also our nonlinear control technique gives the ability to overcome the problem of non minimum phase. Simulation results are also provided to show the effectiveness of the proposed controller.