Trajectory Tracking Control for a Rotary Wing Vehicle Powered by Four Rotors

The present paper presents a trajectory tracking control scheme for an underactuated rotary wing vehicle. The translational controller is designed based on feedback linearization and saturated control. The rotational controller is designed based on the passivity properties of the rotational dynamics. The interconnection between the translational and the rotational controllers is inspired by the backstepping control technique. The final control structure allows to include an integral action that is able to compensate constant disturbances on the rotational dynamics. It is shown that the resulting closed–loop dynamics has a local asymptotic stability property. Numerical simulations show the performance of the proposed controller.