Trajectory Tracking Control of Multirotors from Modelling to Experiments: A Survey

Multirotors have received a great attention from researchers and the general public, as a platform on which various ideas can be easily demonstrated. This paper aims to provide background materials by categorizing various representations of multirotor dynamics and existing control approaches for multirotor control. First, many ways of expressing the translation and the attitude dynamics of a quadrotor UAV are described. Second, linear and nonlinear control laws are reviewed considerably. Finally, we show various types of flight test-beds configured for validating the controller. In experiments, the performance of linear and nonlinear controller are described.