抄録
This paper deals with a control system of a quad-copter. Since quad-copters can hover in air, they are useful for surveillance. Furthermore, their dynamics is much simpler than single rotor helicopters. On the other hand, rotor craft is sensible for disturbance and modeling error. Thus, this paper designs two types of controllers based on PID control and a sliding mode control for an experimental quad-copter. The performance including robustness for the two controllers is examined through numerical simulations in this paper.
