Modeling and Control for Quadrotor Aircraft Subject to Wind Gusts

This paper focuses on the control of quadrotors under external wind disturbance during actual flight. To this end, a dynamic model of the quadrotor is established, and the Dryden wind model is used to simulate wind disturbances. The controller is divided into two subsystems: the position subsystem and the attitude subsystem. Because the wind field can affect the control of the quadrotor, the outer loop controller needs to stabilize the position of the quadrotor, while the inner loop controller needs to quickly and stably adjust the attitude of the quadrotor to respond to external disturbances. Hence a PID controller is proposed for the outer position loop, and an adaptive sliding mode controller is proposed for the inner attitude loop, and its stability is proven by Lyapunov theory. Through the coordinated work of the inner and outer loop controllers, stable control of the quadrotor can be achieved. The effectiveness of the proposed controller is evaluated through simulation experiments that study the quadrotor stabilization performance during hovering under wind disturbance. The simulation results demonstrate the control performance of the proposed controller.