Trajectory-tracking control design and modeling for quadrotor aerial vehicles

Abstract

A control algorithm for finite-time tracking of quadrotor is introduced. The algorithm is based on use of feedback linearization method and finite-time output control presented in [17]. In comparison with commonly used in practice control methods like PD-controller the proposed method allows to estimate the first derivatives of the generalized coordinates, that enable to reduce the number of necessary sensors and thereby reduce the cost of the quadrotor. Moreover, the method is robust with respect to external disturbances and discretization that is useful for quadrotor control due to operating in open areas and digitality of sensors and controller. The performance and effectiveness of the method is demonstrated by simulation results of the system with external perturbations and signal discretization.