Saturated output feedback control of a quadrotor aircraft

@article{Cabecinhas2012SaturatedOF,
  title={Saturated output feedback control of a quadrotor aircraft},
  author={David Cabecinhas and Rita Cunha and Carlos Silvestre},
  journal={2012 American Control Conference (ACC)},
  year={2012},
  pages={4667-4602}
}
This paper addresses the problem of steering a quadrotor vehicle along a prescribed trajectory. The problem is formulated so as to enforce bounds on the thrust actuation and present robustness against possible disturbances resulting from errors in the estimation of the aircraft state. The proposed solution consists of a nonlinear state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of exponentially decaying… CONTINUE READING

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