Quadrotor trajectory tracking based on internal model control/ZN-PD control

To achieve stable tracking of a flight trajectory, a controller with simple structure and strong robustness is designed control a quadrotor in this paper. The controller possesses inner and outer loops structure. The inner loop adopts a ZN-PD controller which Proportional Derivative (PD) controller parameters are tuned by Ziegler-Nichols method; the outer loop adopts Internal Model Control (IMC) method. In this method, the inner loop controller solves the problem of the quadrotor PD controller blind adjusting parameters; the outer loop controller guarantee strong robustness to parameter uncertainty and rejection to disturbance. Compared with the other two methods GA-PD/ZN-PD (outer loop controller is a PD controller with parameters tuned by a genetic algorithm, inner loop controller is ZN-PD) and ZN-PD/ZN-PD (outer and inner loop controllers are both ZN-PD), the method proposed in this paper has stronger disturbance rejection ability and robustness to parameter uncertainty.