Highly maneuvrable quadrotor unmanned aerial vehicle control with unknown disturbances

For the problems of highly maneuverable quadrotor unmanned aerial vehicle (UAV), such as drastic attitude changes, unknown model disturbances, and accurate velocity tracks, the paper proposes new model compensation control based on SO(3) according to the idea of model compensation control (MCC) theory and SO(3) theory. Accurate estimation for unknown disturbances and precise extraction of the reference signal are achieved by introducing compensation function observer and high-order differentiator. For the attitude solution, the desired attitude solutions based on acceleration are designed, which guarantees the range of accelerations is safely limited. At the same time, the relationship between attitude control, velocity control, and the desired attitude solutions is given. The proposed method not only has the global stability of SO(3) and the anti-disturbance stability of MCC but also improves the maneuverability of UAV. Through verifications of simulations and experiments, the proposed method not only has no loss of anti-disturbance performance but also significantly reduces overshooting and response time compared to traditional MCC methods. Providing a control strategy for highly maneuverable UAV.