Stability control of quad-rotor based on explicit model following with inverse model feedforward method

The quad-rotor is expected to carry out many different tasks. It is hoped that the quad-rotor can have different characteristics according to the different mission requirements. For this reason, a flight stability augmentation control system based on explicit model following with inverse model feedforward control method is proposed in this paper. This control system is composed of an explicit model, an inverse model and a feedback controller module. In order to calculate an inverse model of the coupled multivariable aircraft system, a feedback linearization loop is also applied to this control system. At last, simulations are performed to show the effectiveness of the designed stability augmentation control system in the presence of external disturbance and model uncertainty. The influence of explicit model to the characteristics of quad-rotor is also indicated in a contrast simulation result.