Robust internal model controller for quadrotor UAV

Modeling and control of Unmanned Aerial Vehicle (UAV) such quadrotor becomes more attractive to researchers due to the UAV applications and technological advancements. Therefore the quadrotor system can probably affected by model uncertainties, noises and external disturbances. In this work, a quadrotor dynamic model is presented and a new control approach based on Internal Model Control strategy is designed to stabilize the 6 DoF quadrotor UAV under model uncertainties, noises and external disturbances, provided by numerical simulations.