Modeling and control of a quadrotor helicopter under impact of wind disturbance

In view that the quadrotor helicopter flying at low altitude is more susceptible to the turbulent wind field, a dynamic model is established via Newton-Euler formalism to overcome this problem. The turbulent wind field is generated according to Dryden model. The controller includes integral backstepping controller for inner loop and PID controller for outer loop. The stability of the system is validated by Lyapunov theory. The dynamic performance and control ability under the effect of turbulent wind field is studied by numerical simulation. The results demonstrate that the model can accurately reflects dynamic performance of the system, and the controller presents good robustness in the effect of turbulent wind field.