Performance Evaluation of Linear and Nonlinear Control Methods in Trajectory Tracking of a Quadrotor

Quadrotors are suitable test systems for the application and evaluation of various types of control methods. Due to its structural simplicity and ease of application, linear methods such as PID and LQR controllers are used in the trajectory tracking control of the quadrotor. In addition to linear methods, nonlinear methods are also discussed for the same problem, which provide more robust control approaches, such as feedback linearization method, sliding mode control method, and back-stepping control method. The obtained results are evaluated and the effects of the two types of control approaches on the behavior of the quadrotor are studied.