Tracking control and disturbance rejection of micro quadrotor via adaptive internal model

In this paper, to achieve attitude tracking and disturbance rejection of micro quodrotor in the presence of uncertain external disturbances, the output regulation technique is utilized. First of all, the model that established regarding micro quadrotor is transformed to a stabilization problem of the second-order augmented system by employing the internal model. Second, an adaptive internal model is designed via exosystem information. The nonlinear unknown functions of the system are approximated by fuzzy logic systems, and the fuzzy adaptive laws are designed to tackle the uncertainty parameters. Then the new adaptive fuzzy state controllers and adaptive control laws are proposed by combining the backstepping technique and the adaptive control method. Unlike the traditional controller design method, the proposed controllers and adaptive control laws are designed respectively for roll angle, pitch angle, yaw angle and the height of the four-channel helicopter. Moreover, the new algorithm can perform well in attitude tracking and disturbance rejection of the closed-loop systems. Finally simulation results have demonstrated the effectiveness of the proposed approach.