A robust approach for trajectory tracking control of a quadrotor with experimental validation

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering

Background:

• Quadrotor control systems require robust methods for accurate trajectory tracking.
• Existing controllers often struggle with parameter variations and external disturbances.

Purpose of the Study:

• To introduce a novel model-based control scheme for enhanced quadrotor motion control.
• To validate the controller's performance in achieving accurate position and orientation trajectory tracking.

Main Methods:

• Development of a model-based controller utilizing simplified vehicle parameter estimations.
• Rigorous mathematical analysis to prove uniform ultimate boundedness of closed-loop system trajectories.
• Validation through numerical simulations and experimental testing.

Main Results:

• The proposed controller demonstrates accurate tracking of desired quadrotor trajectories.
• The control scheme exhibits superior tracking accuracy compared to other robust controllers.
• Uniform ultimate boundedness of system trajectories is mathematically proven.

Conclusions:

• The novel model-based control scheme offers a robust and accurate solution for quadrotor motion control.
• The controller's effectiveness is confirmed by simulation and experimental results, showing improved performance.
• This approach provides a reliable method for achieving precise quadrotor trajectory following.