Robust path tracking control for quadrotors with experimental validation

In this paper, we consider the autonomous path tracking control problem of quadrotors with the presence of external disturbances and model parameter uncertainties change. A robust controller is derived and tested in simulation and practically on an AscTec Hummingbird quadrotor via H-infinity optimal design approach. The stability analysis was obtained via a selected Lyapunov function. Simulation results are compared with that of integral backstepping controller. Practically, the H-infinity controller was used to perform several manoeuvres such as take-off, square, circle, spiral and landing. Both simulation and practical results verified the stability and robustness of the proposed controller in the presence of external disturbances and model parameter uncertainties.