Hybrid Robust PID Control of Unknown Quadrotor UAVs

In this paper, a novel hybrid robust PID control (HRPIDC) scheme is proposed to address asymptotical trajectory tracking control problem of unmanned aerial vehicles (UAVs) with unknown dynamics and disturbances. Main contributions of this study are as follows: 1) Different from the previous approaches, within the HRPIDC scheme, discrete incremental PID control laws and data-driven sliding mode control (DSMC) are effectively cohered to deal with the tracking control problems of the quadrotor UAVs; 2) By applying the data-driven strategy, a novel time-varying data-driven sliding surface is designed for position subsystem and attitude subsystem, thereby contributing to strong robustness in terms of disturbances and unmodeled dynamics; 3)The feasibility of the proposed HRPIDC strategy is verified by simulation studies in comparison with the conventional PID control, and the effectiveness and superiority of the HRPIDC approach when applying to the trajectory tracking control of the quadrotor UAVs are further demonstrated.