Attractive Ellipsoid-Based Robust Control for Quadrotor Tracking

Abstract

This article deals with the tracking control problem for a quadrotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aim, a constructive output-based robust control approach is designed based on the sliding-mode observation theory, for state estimation and the attractive ellipsoid method, for control design. The closed-loop robust stability is proven through Lyapunov methods. The synthesis of the robust output-based control approach is expressed in terms of linear matrix inequalities. Experimental results on the QBall2 platform by Quanser illustrate the feasibility of the proposed approach.