Ardrone quadrotor modeling and additive-output-decomposition based trajectory tracking

According to the characters of Ardrone quadrotor, this paper proposes a reasonable method of modeling and making the head of quadrotor consistent with the tangential direction of the curve while tracking. Based on the Ardrone model, this paper takes circle tracking for example to design the controller. After getting the desired attitude information, this paper designs an attitude controller by the method of additive-output-decomposition-based dynamic inversion to reach the objective. This paper sets up an Ardrone quadrotor platform and identifies the unknown parameters by the real data. The simulation result shows that the model is reasonable and the tracking effect stands fine while the system is uncertain.