Comparison of Linear and Nonlinear Controllers Applied to Path Following with Coaxial-Rotor MAV

This work presents a nonlinear aerodynamic model that describes the dynamics of a coaxial-rotor MAV. We have designed seven control laws based on linear and nonlinear controllers for path-following with a coaxial-rotor MAV in the presence of unknown disturbances, such as wind gusts. The linear controllers include Proportional–Derivative (PD) and Proportional–Integral–Derivative (PID). The nonlinear techniques encompass nested saturation, sliding mode control, second-order sliding mode, high-order sliding mode, and adaptive backstepping. The results are shown after multiple computer simulations.