쿼드콥터 제어 방법 고찰

Review on the Control Methods of Quadcopters

Recently, quadcopters have been popular as aerial drones. The structure of quadcopters is simpler than traditional helicopters and they are easy to construct and maneuver. Various hardware platforms for quadcopters have been developed. However, the controller design is not easy due to the requirement of 6-DOF flights using 4 rotors(control inputs)(under-actuated systems). In order to overcome the underactuation problem, various control methods - PID, LQR, $H_{\infty}$, SMC, backstepping control, and etc. - have been suggested for the control of quadcopters. In this paper, dynamic features and control methods of quadcopters are reviewed and evaluated. Future works are proposed for designing the advanced controllers of quadcopters.