Synergetic approach to the quadrotor helicopter control in an environment with external disturbances

The paper presents a new approach to the quadrotor unmanned aerial vehicle control in an environment with undefined external disturbances. The quadcopter was chosen as a controlled object because this type of UAV is the most maneuverable among others. The quadcopters are designed to work in closed spaces, e.g. urban environment or buildings. Undefined disturbances, e.g. a strong wind gusts, always have an effect on the quadcopter during its flight, which is why the paper views the analysis of a dynamic model of the quadrotor UAV which takes into account external disturbances. For the synthesis of the nonlinear synergetic control of the quadcopter the method of the analytical construction of aggregated regulators with integral adaptation was applied. The synthesized control algorithm is invariant to piecewise constant external disturbances, the latter being the worst type of disturbances which arise during the quadcopter flight.