Output-based Robust Control for Quad-Rotor Tracking: An Attractive Ellipsoid Approach

Abstract

This paper deals with the tracking control problem for a Quad-Rotor in the presence of external disturbances and only by means of the measurable positions and angles. To this aims, a constructive output-based robust control is designed based on: 1) sliding-mode observation theory, for state estimation; and 2) 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 is expressed in terms of Linear Matrix Inequalities. Simulation results illustrate the feasibility of the proposed approach.