Quadrotor performance using PID, LQR and feedback linearization controllers with PD

In recent years, the use of unmanned aerial vehicles (UAVs) in military and civilian missions has increased due to the ability to float, fly at low height and in closed spaces. In the category of UAVs, there is a category called quadrotor, which has received much attention researchers due to its special features. The main applications of this category are related to their vertical landing and take-off, maneuverability and high controllability. Unmodeled dynamics, uncertainty, disturbance, and the unknown parameters of the quadrotor system are some of the problems that complicate the design of the controller for it, and as a result, it has found a special place in engineering fields, especially aerospace and control engineering. In this paper, PID, LQR and linearization feedback controller with PD were applied to the quadrotor system, so as to guarantee the stability of the closed-loop system. The simulations in MATLAB software show that the LQR controller is superior to the other two controllers.