Mohammad Reza Soltanpour - Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran
Sepehr Sigari Hamedani - Department of Electrical Engineering, Damavand science and Research Branch, Islamic Azad University, Damavand ،Iran

Quadrotor is one type of UAV for which a non-linear control model has been designed due to quadrotor in this paper. In this article, firstly the manner of quadrotor’s movement has been discussed, and then quadrotor dynamic model and rotational equations which are based on the Newton Euler method have neen investigated. Moreover, quadrotor torques, transfer equations, and state space have been investigated. In this study, 6 degrees of quadrotor freedom has been explored and compared by using two controllers 1) PID controller and 2) sliding mode controller (SMC), including behavior and quadrotor altitude. Control model for quadrotor not only controls the three controllers of quadrotor act, that includes rotation around the axis (X, Y, Z), but also controls one controller of quadrotor altitude. In the next part, two controllers of disturbance have been added to control systems. Finally, the flight path would be continued by the Sliding Mode Controller (SMC) in spite of disturbance

Quadrotor, Sliding Mode control, PID, Disturbance, Flight path