H_∞ Path Tracking Control for Quadrotors Based on Quaternion Representation

摘要

In this work, the path tracking problem of quadrotors is investigated. A quadrotor is represented by unit quaternion and modeled with added disturbance. Given full and accurate location information, a nonlinear H_∞ control law is proposed and its stability is analyzed by using Lyapunov stability theorem. The added disturbance includes parameter changes and force disturbance. The simulation result demonstrates the closed loop path tracking system is stable with and without the added disturbance.