An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles

Table 1

Some of the used control methods and assessments for Quadrotor Unmanned Aerial Vehicle (Q-UAV) applications.

Used control methods	Assessment of Q-UAV control applications
Lyapunov theory [31, 32]	This is proved to be very reactive, especially for the yaw angle control of a Q-UAV. However, stabilization in the direct neighborhood of the equilibrium point was not rigid enough to permit hover flight.
Proportional–Integral–Derivative (PID) controller [33–35]	It is proved to be well adapted to the Q-UAV when flying near hover. It was possible using this technique to successfully perform the first autonomous flight. But the PID controller was only able to control the Q-UAV in near hover and absence of large disturbances.
Linear Quadratic (LQ) regulator [36–38]	This displayed average stabilization results. However, it was shown to be less dynamic than the PID controller.
Backstepping technique [39–42]	The ability of this technique to control the orientation angles in the presence of relatively high perturbations is very interesting.
Sliding-mode technique [42–49]	This did not provide excellent results when used alone. The switching nature of the controller seems to be ill adapted to the dynamics of Q-UAVs. Thus, it could be combined with other control techniques, such as the backstepping or radical basis function neural networks, to improve the control performance for Q-UAVs.