Position and attitude tracking control for a quadrotor UAV via double-loop controller

To deal with the position and attitude tracking control problem of a quadrotor unmanned aerial vehicle (UAV), the proportional-derivative (PD) and integral sliding mode techniques are adapted to design a double-loop controller in this paper. Firstly, the system model of quadrotor is established according to the Lagrange formalism. Then, a PD control method is put forward in the outer-loop to achieve the position tracking. Meanwhile, an integral sliding mode control method is adapted in the inner-loop to ensure the quadrotor track the desired attitude angles in the presence of external disturbances. Accordingly, a double-loop controller is generated. Finally, simulation results are presented to verify the effectiveness and robustness of the proposed control laws.