Integral Backstepping/LFT-LPV H∞ Control for the Trajectory Tracking of a Quadcopter

Abstract

In this paper, a hybrid robust control strategy is proposed to solve the trajectory tracking of a quadcopter. The quadcopter model is divided into two subsystems; rotational subsystem and translational one. We present the rotational one as a quasi-LPV system and design an LFT-based LPV H∞ controller to achieve the stabilization of the orientation coordinates with taking into account the disturbances and the actuators’ dynamics. On the other hand, in order to guarantee the trajectory tracking, the backstepping controller is designed for the translational subsystem with integral action, to get a null steady state error. The simulation results show the efficiency and the robustness of our controller against disturbances, noises and parametric uncertainties.