SPT-Based Composite Hierarchical Antidisturbance Control Applied to a Quadrotor UAV

Although the flight control of quadrotor unmanned aerial vehicles have been widely studied, it is still very challenging to suppress multiple disturbances and efficiently utilize the inherent multi time-scale characteristics. As a well-known antidisturbance strategy, composite hierarchical antidisturbance control (CHADC) can compensate and attenuate disturbances simultaneously, thus enhancing the control performance of complex systems significantly. In the meantime, the singular perturbation theory (SPT) is employed to analyze the multi time-scale properties, and the original system is decomposed into the slow and fast subsystems. In this article, we present an antidisturbance control scheme based on the SPT and CHADC to enhance the capability of antidisturbance. A novel composite hierarchical antidisturbance (CHAD) predictor–corrector is proposed for the slow subsystem to integratively handle the disturbances from guidance and control perspective, and a CHAD
${{H}_{\infty }}$
controller is employed for the fast subsystem subject to external disturbances and inertial uncertainties. Meanwhile, the compensability of disturbance is explicitly analyzed. Finally, experiments are carried out to validate the effectiveness of the proposed scheme.