Acceleration-based multiple-loop control of unmanned quadrotors with disturbances

Over the last decade, considerable interest has been shown from government, academia, military and business circles to the design of unmanned quadrotor autonomous control. This paper uses a multiple-loop control strategy with disturbance compensation by the acceleration measurement for an unmanned quadrotor. The outer-loop control uses dynamic surface control method with disturbance compensation by use of acceleration measurement. The middle-loop uses P control and the inner-loop uses PID control. This structure does not need know the quadrotor parameters and can be applied into practice easily. The simulation and experiment results also show that the good performance of position tracking and extern disturbance (wind gust) rejection.