Output controller for quadcopters with wind disturbance cancellation

In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate proposed adaptive control approach based on the high-gain principle, so-called, “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO transformation (more precisely, in the considering case a system of linear equations which relates control signals for actuators and virtual control inputs). The second one is a few SISO channels. Such trick allows to design a control law in two steps. At the first step we design virtual controls for each SISO channel. Here we apply the mentioned systematic approach “consecutive compensator”, which also allows to cancel unknown wind disturbances changing their values and directions negligibly slowly. Then after the inverse MIMO transformation we get control signals for actuators.