Trajectory tracking control for quadrotor unmanned aerial vehicle with input delay and disturbances

Abstract

This paper aims to solve the tracking control problem for quadrotor unmanned aerial vehicle (UAV) with input delay and disturbances. An appropriate auxiliary system is applied to compensate the effect of the input delay. The nonlinear disturbance observer is utilized to restrain the influence of external disturbances. Then, the controller is designed by backstepping method to ensure the trajectory tracking and steady flight of the quadrotor UAV. We also present simulation and experimental reification results to demonstrate the tracking effect and stable flight of the UAV.