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Mathematical Problems in Engineering
Volume 2015, Article ID 857291, 13 pages
Research Article

Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
2Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China

Received 12 May 2015; Revised 6 July 2015; Accepted 7 July 2015

Academic Editor: Ricardo Aguilar-López

Copyright © 2015 ZeFang He and Long Zhao. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.