Guaranteed trajectory tracking control based on interval observer for quadrotors

ABSTRACT

This work proposes guaranteed trajectory tracking control for a quadrotor based on feedforward flatness control and an interval observer. Since the quadrotor is subject to bounded uncertainties (parameters, disturbances and noise), the state of this latter cannot be measured properly. Therefore, based on the information of the upper and lower limits of the initial condition, the uncertain parameters, the disturbance and the measurement noise, an interval observer that generates an envelope enclosing every feasible state trajectory is developed. After that, based on the centre of the obtained interval observer, flatness feedforward control, combined with estimated feedback control, is proposed to improve the tracking performance of the quadrotor subject to bounded uncertainties. The closed-loop stability of the system is proven analytical using the Lyapunov theorem. The numerical simulation is done in order to evaluate the proposed tracking control scheme and the interval observer design.

KEYWORDS:

• Quadrotor
• feedforward flatness
• interval observer
• uncertain parameter
• disturbance
• measurement noise

Disclosure statement

No potential conflict of interest was reported by the authors.