Dynamic Modeling and Control of Quad Rotor

Abstract This paper presents a nonlinear compensation technique to solve the trajectory tracking problem for a quadrotor. The kinematics and dynamic equations are obtained using Lagrange –Euler principle. The proposed control algorithm is robust to pay load variations even at high speed or low speeds. The controller can compensate the complex dynamics and also other external disturbances. The torque demanded for the particular motion and maximum payload is computed and it is very low compared with other control techniques. The simulation results demonstrate the proposed control algorithm can track the desired trajectory as well as control the attitude levels and also the thrust force is reduced.