Filtered Observer-Based IDA-PBC Control for Trajectory Tracking of a Quadrotor

Abstract

In this paper, a new filtered observer-based IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) strategy is developed for trajectory tracking of a quadrotor in the presence of disturbances and model uncertainties. The proposed algorithm allows the control of the quadrotor in all its states. It can deal with the noisy output measurements and uncertainties in the translational and rotational dynamics, as unmodeled dynamics inherent to real systems or unknown external signals (exogenous signals). The designed filtered observer estimates the state from noisy output measurements, and it depends only on two design parameters. Numerical simulation tests are carried out to highlight the overall controller approach in a realistic scenario.