Filtered Output Feedback Tracking Control of a Quadrotor UAV

摘要

We present a tracking controller for quadrotor UAVs which uses partial state information and filters the measurements to attenuate noise. We show uniform almost global asymptotic and local exponential stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex looping maneuver.