Hierarchical Immersion and Invariance based control of a Reconfigurable UAV
Randa Hamdaoui, Saddam Hocine Derrouaoui, Mohamed Guiatni, Yasser Bouzid · 2025
A major challenge in reconfigurable drones is ensuring effective control due to their adaptable and changing structure during flight, which introduces a high level of complexity in their control. To this end, this paper represents the design of a nonlinear tracking strategy for a reconfigurable quadrotor UAV control based on Immersion and Invariance (I&I) methodology. I&I simplifies the design of controllers by focusing on invariant regions, which makes it less sensitive to model mismatches or imperfect knowledge of the system dynamics. To the best of our knowledge, this is the first implementation of an I&I based controller for such a UAV. The proposed controller comprises two parts : the inner loop for the attitude control and the outer loop for the position control. The numerical simulations results demonstrate the e ciency of the proposed I&I control. The designed controller ensures precise tracking of the desired trajectory and yaw angle in the presence of external disturbances. The satisfactory results confirm the advantages of the I&I approach for controlling reconfigurable UAVs.