Modeling and Control of a Quadrotor Vehicle Subject to Disturbance Load

In this paper, a dynamic model of quadrotor vehicle is derived for theoretic and practical evaluation. Four transfer functions in different channels are converted from the state equations. To study the behavior of quadrotor subject to the external disturbance load, the FLC ( fuzzy logic controller) is designed to compare with the PID (proportional-integral-derivative) controller. Subsequently, Liapounov function is applied for stability analysis. Finally, simulation results are presented to illustrate the performance between FLC and PID. Considering model error, the evaluation simulations are divided into two parts, which describe the ability for rejecting external disturbance, setpoint tracking and disturbance rejection respectively. The simulation scheme demonstrates the FLC method outperforms the PID control scheme.