Hierarchical Composite Nonlinear Feedback Control Approach and Applications for Quadrotors

摘要

A hierarchical composite nonlinear feedback (HCNF) control technique is proposed in which the auxiliary integrators are introduced to remove the steady-state bias due to the disturbances. The main idea of HCNF is to separate the control design of the auxiliary integrators and the composite nonlinear feedback (CNF) control design. The auxiliary integrators are applied only to remove the steady-state bias by automatically adjusting the commands to be tracked by the CNF control law in which the CNF control design does not involve with the auxiliary integrators. The HCNF control technique is applied to design the attitude control law of a maneuvering flight control law for a quadrotor. The resulting closed-loop system is verified in simulation successfully to complete the maneuvering flight.