Nonlinear Control for Trajectory Tracking of a Quadrotor Unmanned Vehicle

摘要

This paper presents a new solution to the motion control problem for a rotary wing vehicle powered by four rotors. The proposed control structure is a parallel scheme consisting of a partial state saturated feedback to control the vehicle altitude and a partial feedback linearizing feedback to control the planar vehicle's position. It is shown that the resulting closed-loop dynamics has a local asymptotic stability property. Numerical simulations show the performance of the proposed controller.