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Intelligent Disturbance Compensator for Quadrotor flight

The presence of wind disturbance and model uncertainties are significant problems for quadrotor stable flight and its control performance. In this paper, the intelligent disturbance compensator (IDC) designed with the disturbance accommodating control (DAC) observer and the radial basis function (RBF) neural network compensates for uncertainties such as wind disturbance and modeling error without information on nonlinear terms and input matrix of the mathematical model. The IDC can design adaptive law based on the Lyapunov function and tune the RBF neural network online. The validity of the proposed compensator is shown through numerical simulation.