A nonlinear quadrotor trajectory tracking controller with disturbance rejection

@article{Cabecinhas2014ANQ,
  title={A nonlinear quadrotor trajectory tracking controller with disturbance rejection},
  author={David Cabecinhas and Rita Cunha and Carlos Silvestre},
  journal={2014 American Control Conference},
  year={2014},
  pages={560-565}
}
This paper addresses the problem of designing and experimentally validating a controller for steering an autonomous quadrotor vehicle along a time-dependent trajectory, while rejecting constant force disturbances. The proposed solution consists of a nonlinear adaptive state feedback controller that asymptotically stabilizes the closed-loop system and ensures perfect tracking even in the presence of force disturbances. We consider quadrotors vehicles actuated in thrust and angular velocity, and… CONTINUE READING

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