Modified Universal Integral Regulator for Quadrotor UAV in the Presence of External Disturbances

Abstract

Universal Integral Regulator (UIR) is a widely used control law for control problems, it is based on sliding mode control with the inclusion of a Conditional Integrator (CI). In the original approach of this control law, the main gain is considered a constant. The purpose of this paper is to solve a quadrotor tracking problem using a new nonlinear control law based on the quadrotor tracking problem using a new nonlinear control law based on the UIR, considering the main gain dependent on the tracking error (variable gain), the control law is called in the present work as Modified Universal Integral Regulator (MUIR). It is expected that the MUIR can improve the transient response and reduce the control demand when compared to previous approaches of similar controllers. The adopted Newton-Euler quadrotor model and the controller design are treated separately in two subsystems, attitude and position control loops. The stability of MUIR is demonstrated by the use of a candidate Lyapunov function. Finally, in order to validate the robustness and choice of the proposed controllers, several numerical simulations were developed in the presence of external disturbances. Less error and control activity during transient response were observed when compared to the original Universal Integral Regulator controller.