*Robust Control Algorithm for Drones DOI: http://dx.doi.org/10.5772/intechopen.105966*

**Figure 8.** *Exact linearization position and yaw response with no interfering control by dynamic-feedback to a step-input.*


#### **Table 5.**

*Distinctive characteristics of the step-response.*

method. The 'RT', 'OS', and 'ST' of any and all three controllers were all investigated. When applying the Feedback-linearization controller, the best results are attained. Path-following control strategies are a concept that has been defined. All simulations in this study were conducted under the assumption that the CA's whole motion happens at a significant altitude from the ground, and also that the CA does not perform take-off or landing. Another issue is that due to the complexity of modelling uncertainties like wind velocities as well as ground impacts, the proposed theoretical model does not include them. The controllers must be made resilient so that they can deal successfully with external disturbances that were not taken into account during the modelling process. A next step towards achieving is to design a controller which can deal with the malfunction with one or more rotors.

#### **Figure 9.**

*Dynamic inversion's position and yaw response to a step input with zero-dynamics stabilisation.*


#### **Table 6.**

*Distinctive characteristics of the step-response.*

### *Robust Control Algorithm for Drones DOI: http://dx.doi.org/10.5772/intechopen.105966*

#### **Figure 10.**

*The three controls' position and yaw responses to a step-input.*


#### **Table 7.**

*Using the control techniques discussed above, assign distinguishing attributes for a step response to x (t) variable.*


#### **Table 8.**

*Using the control techniques discussed above, assign characteristic attributes for a step input to y (t) variable.*

#### *Aeronautics - New Advances*


#### **Table 9.**

*Using the control techniques discussed above, assign characteristic attributes for a step input to z(t) variable.*


#### **Table 10.**

*Using the control techniques discussed above, assign characteristic attributes to a step input to (t) variable.*
