Performance Evaluation of Different Control Methods for an Underactuated Quadrotor Unmanned Aerial Vehicle (QUAV) with Position Estimator and Disturbance Observer
Table 1
State-of-the-art approaches with limitations.
Sr.
Techniques
Limitations
1
Proportional integral + backstepping control design with non-linear disturbance observer [18]
There are several steady states and transient issues. One may notice the unnecessary delays in theoretical and predicted accelerations.
2
Dual-loop integral sliding mode control design with LESO [48]
There is an estimation delay. One must compromise either over steady-state issues or transient issues. Chattering effect is observed on all four brushless DC motors.
3
Predictive optimal control using disturbance estimator [49]
The results are robust but with the perturbations of in the system. Only the payload case is discussed.
4
Third-order sliding mode control design with quaternion mathematics [50]
It resolves the issue of gimbal lock. It does not discuss the impact of unmodelled dynamic factors. The stability proof is not provided. There is a delay in accelerations, chattering effect, and transient-steady-state issues.
