Disturbance Rejection and Asymptotically Stabilizing Control for a Quadrotor UAV

Abstract

A novel attitude controller based on Lyapunov stability theory is developed for a quadrotor UAV considering different bounded disturbances and parameters’ perturbation. Specifically, the proposed controller is able to compensate for a disturbance without requiring concrete information of its structure (e.g. period or amplitude). In addition, the controller can handle the situation when external disturbances and internal parameters’ perturbation exist simultaneously. Furthermore, sufficient conditions are derived for the control law to ensure global asymptotic stability of the closed loop system. A theoretically rigorous proof has been given. Numerical simulations are carried out to evaluate the effectiveness of control algorithm. Simulation results show that the proposed control strategy has a satisfactory performance of disturbance rejection and anti-multi-parameter perturbation.