Dynamic Modeling and Control of Small-size Quadrotor Considering Wind Field Disturbance

The dynamic modeling and control scheme of the quadrotor considering wind disturbance is proposed in this paper. The dynamic model of the small-size quadrotor is built in the presence of wind field based on the momentum theory and blade element theory of propeller. The relevant forces and moments generated by the rotor associated with the dynamic model are obtained. Moreover, the adaptive sliding mode attitude controller is designed. Eventually, in order to illustrate the robustness and highly accurate tracking control of the proposed approach, the quality of the model and the proposed control is tested by numerical simulation. The experimental results verify the validity of the model and the robustness of the proposed controller.