Attitude Control of Quadrotor Aircraft Based on Internal Model Principle

This paper proposes an attitude regulation method for reduced-order control of four-rotor aircraft based on the principle of internal model. The servo compensating gain matrix feedforward controller is designed to obtain the control law and regulate the input signal to realize the zero steady error tracking of the input signal under the external disturbance signal. Through the design of state observer, the detection link is simplified and the use of the sensor is reduced. At the same time, the disturbance signal is obtained by an external disturbance observer, and the disturbance signal is suppressed by a feedforward control design compensation channel. The simulation results show that the system has good steady-state characteristics and can realize the zero steady error tracking of the servo system when the external disturbance model is unmeasurable, and has strong robustness and engineering application value.