Tracking Control of Quadrotor using Generalized Dynamic Inversion with Constant-Proportional Rate Reaching Law

In this paper, the tracking control problem of quadrotor is solved by implementing the novel Generalized Dynamic Inversion with Sliding Mode Control (GDI-SMC). The proposed controller is composed of the continuous control part based on the conventional GDI approach, and a switching control part, in which Constant-Proportional rate reaching law is employed to enhance the robust attributes. The two-loops structured control system is proposed for quadrotor, in which outer loop generates the required pitch and roll attitude commands based on the inertial positional errors, whereas the inner loop is engaged to track the reference attitude commands along with following the required altitude, such that semi-global practically stable position and attitude tracking is guaranteed. Simulation results on a six degrees of freedom simulator of X-4 flyer quadrotor are provided to exhibit the controller performance in presence of parametric uncertainties and exogenous disturbances.