Design of Quadrotor Control System Based on Dynamic Surface Output Regulation

摘要

A double-loop control system is proposed based on dynamic surface output regulation and integral sliding mode control method, to achieve the position and the attitude tracking control of the quadrotor with external disturbance. Especially, in the position control, the dynamic surface technology is combined with the internal model to design an output regulator, which can transform the position controller into a position augmented system stabilization controller. And integral sliding mode control method is adopted in the attitude control. The internal model is an important and effective tool in the output regulation theory, which can solve the asymptotic tracking and disturbance rejection problems of uncertain systems, and the dynamic surface method allows the mathematical model of the object to be not differentiable, thus the computational expansion is avoided. The stability of the designed control system is proved by Lyapunov stability theory, simulation results in Matlab/Simulink are presented to verify the effectiveness and robustness of the proposed control system.