Robust Position and Attitude Tracking Control of Unmanned Quadrotor

The paper provides the results of a robust position controller design for a quadrotor unmanned aerial vehicle (UAV) in the presence of bounded uncertainties and disturbances. The dynamic model of a quadrotor UAV is defined on the special Euclidean group. In the proposed controller, inertial vector measurements are used instead of system attitude, and robust adaptive position and attitude controllers are designed sequentially. The proposed control method ensures the tracking of a desired trajectory while significantly reducing the effect of uncertainties and disturbances. Also, simulation results are provided to demonstrate the effectiveness of the proposed control strategy.