Control theory applied to multirotor aerial systems (MAS) has gained attention with the recent increase on the power computation for embedded systems. These systems are now able to perform the calculations needed for a variety of control techniques, with lower cost of sensors and actuators. These types of control algorithms are applied to the position and the attitude of MAS. In this paper, a brief overview evaluation of popular control algorithms for multirotor aerial systems, especially for VTOL - Vertical Take-Off and Landing aircraft, is presented. The main objective is to provide a unified and accessible analysis, placing the classical model of the VTOL vehicle and the studied control methods into a proper context. In addition, to provide the basis for beginner users working in aerial vehicles. In addition, this work contributes in presenting a comprehensive analysis of the implementation for the Nonlinear and Linear Backstepping, Nested Saturation and the Hyperbolic Bounded Controllers. These techniques are selected and compared to evaluate the performance of the aircraft, by simulations and experimental studies.

随着嵌入式系统功率计算的最新发展，应用于多旋翼航空系统（MAS）的控制理论已引起关注。这些系统现在能够执行各种控制技术所需的计算，而传感器和执行器的成本较低。这些类型的控制算法适用于MAS的位置和姿态。在本文中，简要概述了对多旋翼航空系统（尤其是VTOL-垂直起降飞机）流行的控制算法的评估。主要目的是提供一个统一且易于访问的分析，将VTOL车辆的经典模型和研究的控制方法置于适当的背景下。另外，为初学者从事航空器工作提供基础。此外，这项工作有助于对非线性和线性Backstepping，嵌套饱和和双曲有界控制器的实现方式进行全面的分析。通过模拟和实验研究，选择并比较这些技术，以评估飞机的性能。