Modeling and altitude control of quad-rotor UAV

This paper deals with the modeling and altitude control of a quad-rotor unmanned aerial vehicles (UAVs). First, we derive a quad-rotor model using Euler-Lagrange equations and perform experiment to identify model parameter. Second, we design the altitude controller of a quad-rotor based on dynamic surface control (DSC) method. From the Lyapunov stability theory, we prove that all signals of a quad-rotor system are uniformly ultimately bounded(UUB). Finally, we present the simulation and experimental results to verify the effectiveness of the proposed control method.