Control Researches on Nonlinear Systems for A Quadrotor UAV Helicopter Under Impact of Wind Disturbance Based on Method of Domination

摘要

With the advantages of simple structure, high maneuverability and flexibility, the quadrotor Unmanned Aerial Vehicle (UAV) has been widely used not only in military but also in civil fields. However, it is a big challenge to design the underlying flight controller since the quadrotor has characteristics of nonlinearity, underactuated feature, strong coupling and sensitive to internal and external disturbances. In this paper, an underlying flight controller is designed based on the model of Bebop Drone and nonlinear domination approach.