Design of Robust Positively Invariant Set with Associated Controller for the Multi-rotor UAV

Abstract

In this paper, a nonlinear multi-rotor unmanned aerial vehicle (UAV) system with bounded disturbance and input saturation is considered and we design a robust positively invariant (RPI) set for the trajectory tracking problem of the multi-rotor UAV. A nonlinear controller with disturbances offset is designed firstly to ensure the stability of tracking, and the RPI set is constructed based on linear matrix inequalities (LMIs). For the tracking error within the designed RPI set, the designed controller can always guarantee that the tracking error stays in the RPI set forever and eventually converges to zero. The effectiveness of the proposed results are confirmed by the numerical simulation.