Survey of advances in control algorithms of quadrotor unmanned aerial vehicle

First, the basic structure and principle of quadrotor UAV and its practical applications are introduced. Then, some control algorithms are also presented, such as, PID, LQR/LQG, H_∞, sliding mode, feedback linearization, back stepping, model predictive, robust, adaptive, nested saturation, fuzzy logic, neural network, reinforcement learning, iterative learning, memory and brain emotional learning-based intelligent controllers, and the merits and drawbacks of them are analyzed. At last, we predict the main research direction on the future researches of quadrotor UAV.