Dynamic Inversion Control of quadrotor with complementary Fuzzy logic compensator

Abstract

In this paper, an integrated quadrotor flight controller with complementary compensator of system uncertainties is presented. Proposed control law combines model-based and knowledge-based techniques into a hybrid controller that should ensure high trajectory tracking accuracy in presence of structural and parametric uncertainties of the system and external disturbances. The Computing Torque Method is used to invert nonlinear and highly coupled dynamics of the system, and turn it into linear and decoupled. Structural and parametric uncertainties of the system as well as stochastic internal and external perturbations can strongly degrade performance of Dynamic Inversion Controller (Computing Torque Method). The influence of perturbations that may act upon the system can be significantly reduced by implementation of the Fuzzy Logic Controller, that will act like a complementary compensator of uncertainties.