Attitude Regulation of Quadrotor Drone Based on Feedforward-feedback and Reduced-order Observer

摘要

This paper proposes an attitude regulation method for reduced-order control of four-rotor aircraft based on the principle of internal model. When the external disturbance signal exists, the feedforward gain matrix of servo compensation and the state feedback channel are designed, and the control law is obtained. Regulating and controlling the input signal to realize the zero steady error tracking of it. The state observer is designed to simplify the detection process and reduce the number of sensors in the four-rotor aircraft control system. At the same time, the disturbance signal is acquired by the external disturbance state observer, and the disturbance signal is suppressed by the feedforward control design compensation channel. The simulation results show that the system has good static and dynamic characteristics, and realizes the zero steady tracking of the servo system, which has strong robustness and engineering application value.