Position Regulation of Quadrotor Aircraft Based on Internal Model Principle

Abstract

This paper proposes a position 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 zero steady error tracking of the input signal in the case of external disturbance signal. This method uses the principle of internal model to design stabilizer compensator and servo compensator respectively to solve the problem of constant value regulation and servo tracking. By designing the state observer, the detection link is simplified and the use of the sensor is reduced. Pole assignment is realized by state feedback, which makes the system meet the desired dynamic and static indexes. 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 characteristics and dynamic characteristics when external disturbance is unmeasurable, and it can realize the zero steady error tracking of the servo system, which has strong robustness and engineering application value.