Integrated Control of Quadrotor Flight Dynamics with Complementary Compensator of System Uncertainties

摘要

The paper is addressed to design of an integrated quadrotor flight controller with complementary compensator of system uncertainties. Proposed hybrid controller combines model-based and knowledge-based control block with aim to ensure better flight dynamic performances, improved trajectory tracking accuracy and control robustness with respect to the structural and parametric uncertainties of the system as well as regarding to the stochastic internal and external perturbations. The Computing Torque Method is used for the appropriate compensation of the main dynamic effects in the system. Other, non-modeled effects as well as system internal and external perturbations cannot be modeled or predicted in appropriate way to be used by the conventional control techniques. The influence of the structural and parametric uncertainties upon the system can be compensated by implementation of the corresponding fuzzy logic controller. Finally, the dynamic controller and the complementary FLC make a hybrid integrated flight controller capable to cope with the major system dynamic effects and corresponding system uncertainties.