The controller design of quadrotor UAV based on internal model control

In view of nonlinear, external disturbances and strong coupling features of the quadrotor UAV. A combination of internal model control and tracking differentiator (TD — IMC) is proposed to design a controller for Quadrotor. The function matrix of the quadrotor can be obtained by the LPV method linearizing the nonlinear model. Tracking differentiator (TD) is introduced to arrange the transition process, and utilizing TD's high quality filter and tracking effect, IMC controller is designed to control the quadrotor model, so that the attitude and trajectory tracking can be realized. The simulation results indicate that the control method proposed in this paper has stronger robustness and disturbance rejection performance.