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Dynamic Surface Control for Multirotor Vehicles

In this paper we present the design of Dynamic Surface Control (DSC) law for multirotor vehicles. We first propose a mathematical model which can be used for a wide class of multirotor vehicles. Then, we extend the classical DSC such that it can be applied to the proposed model for tracking pitch, roll, yaw and altitude. The DSC performances are compared with other nonlinear algorithms known in the literature, namely backstepping and sliding mode, as well as PID controller, where all the control laws were tuned via the same heuristic random search algorithm in order to ensure a fair comparison.