Modeling and Control of Quadcopter Based on Sliding Mode Robust Control in the Wind Field

Abstract

Due to the low flying height, quadrotors are easily affected by external wind disturbances. In this paper, the dynamic model of the quadrotor flying in the wind field is established according to the Newton-Euler equation. The model introduces a weight function due to the phenomenon that different rotors are affected differently by the wind field due to their different positions relative to the wind field, and a sliding mode robust controller based on inner and outer loops is designed. The verification of the control system is carried out by means of simulation in a Gazebo and actual flight experiments in the wind field. The dynamic of the system and the controller performance under the wind field are also tested. The results show that the designed controller has the performance of stable flight in the wind field environment.