Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor

Yi Rui Tang, Xiao Xiao, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

25 Citations (Scopus)


In the dynamic modeling, significant aerodynamic effects arising from the blade deformation of the rotor and the induced momentum are taken into account. The model is capable of representing the quadrotor behavior for more flight regimes, including not only hover but also high-speed and translational flights. Such a model can benefit the controller design from the improvement of the stability as well as the reduction of development period. Furthermore, a hybrid control scheme incorporating optimal linear quadratic regulator (LQR) and robust sliding mode control (SMC) techniques is designed in a hierarchical multiple-layer structure. In actual practice, only partial states of the quadrotor are readily measurable. A reduced-order observer is hence developed and integrated into the compensator to estimate the unmeasured states. The simulation results show that the designed controller can achieve outstanding performance which is greatly superior than conventional control techniques can do.
Original languageEnglish
Pages (from-to)51-64
Number of pages14
JournalMeasurement: Journal of the International Measurement Confederation
Publication statusPublished - 1 Oct 2017


  • Aerodynamic effect
  • Dynamic modeling
  • Flight control
  • Observer design
  • UAV quadrotor

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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