Sigmiod based anti-disturbances trajectory tracking for quadrotor UAV under gyroscope noise

In this paper, a Sigmiod based anti-disturbances trajectory tracking controller is developed to cope with the trajectory tracking problem of the quadrotor under external disturbances, model uncertainties and gyroscope noise. Firstly, the accurate nonlinear dynamic model of quadrotor UAV is established. Then, based on the hierarchical control principle, the trajectory tracking controller is designed as position loop and attitude loop respectively, each loop constructs the corresponding controller by feedback linearization. In addition, the high-order sigmoid tracking differentiator (STD) is developed to generate the required differential signal and arrange expected transition process, synchronously, the sigmoid disturbance observer (SDO) with the same frame as the STD is applied to reconstruct the lump disturbances of the attitude loop and the position loop. At last, the simulation results demonstrate that the proposed controller not only ensures small tracking error and strong noise suppression, but also simplifies the structure of controller and make it easy to adjust controller parameters.