Trajectory tracking control of a four rotor unmanned aerial vehicle (UAV) using two degree of freedom PI controller

In this study, a four rotor Unmanned Aerial Vehicle (UA V) that is called Quadrotor (Micro UAV), is used to test and show effectiveness of 2 DOF PI controller for path tracking of Micro UAV for different reference routes such as zigzag and inclined circle routes. Then, a well-tuned conventional PI controller is also applied to show the performance and priority of 2 DOF PI controller for the same reference routes. Micro UAV is a low cost system and equipped with sonar, GPS and inertia sensors as well. The dynamic structure of Micro UAV is handled with two different separated model dynamics that are inner and outer loops. Both controllers are applied and compared in terms of path tracking performance experimentally for different reference routes.