We present a tracking controller for quadrotor UAVs which uses partial state information and filters measurement noise. We show uniform almost global and locally exponential asymptotic 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.
|Publication status||Published - 9 May 2020|
|Publisher||Eindhoven University of Technology, Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven, The Netherlands|