Robust Nonlinear Control-Based Trajectory Tracking for Quadrotors Under Uncertainty
Krishna Bhavithavya Kidambi, Cornelia Fermüller, Yiannis Aloimonos, Huan Xu
Abstract
This letter presents a modified robust integral of signum error (RISE) nonlinear control method, for quadrotor trajectory tracking and control. The proposed control algorithm tracks trajectories of varying speeds, uncertainties and disturbance magnitudes. The control law presented achieves asymptotic regulation of the quadrotor states in the presence of parametric uncertainties and disturbances. To achieve the results, first the quadrotor UAV dynamics are derived in a strict form. Then, a robust state feedback control is developed in both the position and attitude loop respectively. A detailed Lyapunov-based stability analysis is provided which proves the proposed control method theoretically guarantees asymptotic regulation of the quadrotor states. To illustrate the performance of the proposed control method, comparative numerical simulation results are provided, which demonstrate an improved performance under varying disturbance and uncertain magnitudes.