A comparative study of different control strategies for trajectory tracking of a quadrotor UAV

The goal of this paper is to study, analyses and design multiple control strategies for trajectory tracking of an underactuated quadrotor. Using the Newton-Euler method, a basic nonlinear dynamic model has been derived for a quadrotor with six degrees of freedom, and then used to test the designed control system. The work discusses different stabilization methods, such as PD control, Sliding Mode Control, and the Super-Twisting SMC. The performance of the control methods was evaluated using simulations, demonstrating the effectiveness and robustness of the super twisting control strategy proposed for the quadrotor.