Abstract
This paper presents the two-loops Robust Generalized Dynamic Inversion (RGDI) Quadrotor control system design. The outer loop of the system provides pitch and roll attitude commands to the inner loop, which in turns generates the tilting angles that are required to control the quadrotor position in the horizontal inertial plane in addition to the required reaction torque and thrust for yaw attitude and altitude tracking, respectively. The generalized inversion singularity is avoided by augmenting dynamic scaling factors within the Moore-Penrose Generalized Inverses (MPGIs) in both loops, resulting in stable generalized inversions and position/attitude tracking. Additionally, Sliding Mode Control elements are augmented in both loops to robustify the system against instability and tracking performance deterioration due to dynamic scaling and parametric uncertainties. Numerical simulations are conducted on a six DOFs Quadrotor mathematical model under nominal and perturbed flight conditions, demonstrating the efficacy of RGDI Control in Quadrotor control applications. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.