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Experiment Verification of High Order Differential Feedback Control for Quadrotor UAV

An outer-loop model-free controller called high order differential feedback control (HODFC) that can compute the velocity of position and yaw is applied to accomplish the flight tasks based on indoor optical positioning system. A high precision observer called high order differentiator (HOD) is introduced to observe the differential states of the system output and given input. A filtering signal of control output is incorporated in the control law to estimate the information related to system model. The remarkable features of the HODFC includes model-free performance, pole assignment based on theory, the disturbance suppression. Comparison results of the HODFC and the proportional-integral-derivative (PID) trajectory tracking experiment in height, yaw and x – y plane, and the disturbance experiments are presented to illustrate the superior performance of the HODFC method over the PID method.