Robust trajectory tracking controller for an octocopter UAV

Abstract

This work proposes an Input-Output linearization (IOL) trajectory tracking controller for an actuated octocopter unmanned aerial vehicle (UAV). The underactuated octocopter dynamics is converted into actuated one using the differential flat outputs. The proposed controller for actuated octocopter UAV is robustified using α Uncertainty and Disturbance Estimator (αUDE). The Lyapunov theory is used to ascertain closed-loop stability in achieving the desired trajectory. A comparative study is carried out to show the better performance of the proposed controller. Results show the efficacy of the proposed controller in handling the effects of slow as well as fast varying disturbances, parametric uncertainties, and measurement noise. The quantitative analysis based on performance indices and root mean square error validated the results.