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Title: Robust path tracking control for quadrotors with experimental validation

Authors: Wesam Jasim; Dongbing Gu

Addresses: School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, UK; College of Computer Science and Information Technology, University of Anbar, Ramadi, Iraq ' School of Computer Science and Electronic Engineering, University of Essex, Wivenhoe Park, Colchester, UK

Abstract: In this paper, we consider the autonomous path tracking control problem of quadrotors with the presence of external disturbances and model parameter uncertainties change. A robust controller is derived and tested in simulation and practically on an AscTec Hummingbird quadrotor via H optimal design approach. The stability analysis was obtained via a selected Lyapunov function. Simulation results are compared with that of integral backstepping controller. Practically, the H controller was used to perform several manoeuvres such as take-off, square, circle, spiral and landing. Both simulation and practical results verified the stability and robustness of the proposed controller in the presence of external disturbances and model parameter uncertainties.

Keywords: H controller; integral backstepping controller; path tracking; UAV quadrotor.

DOI: 10.1504/IJMIC.2018.089623

International Journal of Modelling, Identification and Control, 2018 Vol.29 No.1, pp.1 - 13

Available online: 19 Jan 2018 *

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