MODELING AND INTELLIGENT CONTROL OF

AN UNDERACTUATED QUAD ROTOR NON

LINEAR SYSTEM

INTRODUCTION
A Quad rotor has four motors with
propellers.
A voltage applied to each motor results
in a net torque being applied to the rotor
shaft, which results in a thrust.
The thrust produced in each motor
serves as control inputs to quad rotor.
There are four inputs to the Quadrotor
system.

INTRODUCTION
Vertical force input u1
Roll moment input u2
Pitch moment input u3
Yaw moment input u4

NONLINEAR MODEL
METHODOLOGY
First step will be to convert nonlinear model into
linear form.
Any technique out of feedback linearization, exact
feedback linearization or Jacobian linearization
can be used for this.
Second step will be to design controller (one or
two out of PID, LQR, Observer based etc) for the
linear system.
Third step will be to simulate nonlinear model
using controller designed for linear model.
Last step will be to optimize the parameters of
controller based upon intelligent control
techniques learnt in class.
References
Nonlinear Control of a Quadrotor Micro-UAV using Feedback-
Linearization Holger Voos, University of Applied Sciences
Ravensburg-Weingarten, D-88241 Weingarten, P.O.-Box 1261,
Germany.

Dynamic modeling and nonlinear control strategy for an
underactuated quad rotor rotorcraft Ashfaq Ahmad MIAN, Dao-
bo WANG (College of Automation Engineering, Nanjing University of
Aeronautics and Astronautics, Nanjing 210016, China)

Flight PID controller design for a UAV quadrotor, Atheer L. Salih,
M. Moghavvemi, Haider A. F. Mohamed and Khalaf Sallom Gaeid
Centre for Research in Applied Electronics (CRAE), Electrical
Engineering Department, University Malaya Kuala Lumpur,
Malaysia.

Linear vs. Nonlinear Control Techniques for a Quadrotor
Vehicle Younes M. Al-Younes, Mohammed A. Al-Jarrah Ali A.
Jhemi American University of Sharjah Department of Mechanical
Engineering P.O. Box 26666, Sharjah, UAE