Robust trajectory control of a four-axis dual rotor aircraft

This paper puts forward a four-axis dual rotor unmanned aerial vehicle (UAV) and builds the mathematical model. For this model, an aircraft trajectory control method based on robust compensation is presented. To reduce the effects of external disturbances and model parameters´ uncertainty, the robust compensator is added to the classical PD control. Simulation results demonstrate that this method can dramatically improve robustness of trajectory control.