Robust Attitude and Position Control of Quadrotor UAV
Shilpa Saji, Arun Kishore W. C. · 2025
Quadrotor Unmanned Aerial Vehicles (UAVs) require precise trajectory tracking for applications such as agriculture, disaster management and surveillance. The nonlinear dynamics and model uncertainties makes the control design more challenging. This paper presents a robust trajectory tracking control approach for quadrotor UAV by using Quantitative Feedback Theory (QFT). QFT is chosen for its ability to handle model uncertainties while assuring predetermined performance specifications. In contrast to conventional methods, QFT provides a well structured framework to maintain stability and tracking accuracy across varying operating scenarios. The proposed controller effectively tracks predefined position trajectories despite in the presence of model uncertainties, with simulation results validating its robustness and accuracy.