Robust control design for the trajectory tracking of a quadrotor

The paper proposes two different controllers for the inner and outer loop of the quadrotor. The dynamic mathematical model of a quadrotor is derived based on Euler-Lagrange formulation. The outer loop controller design is verified with two controllers. One is the D (derivative) controller with a derivative filter and the second one is a PD (proportional-derivative) controller with derivative filter proposed for the position tracking of the quadrotor, where the advantage of the proposed controllers include easiness of implementation, higher stability and less dependence on the system model. The integral sliding-mode controller is proposed to obtain the desired attitude angles for the quadrotor tracking and its advantage is unaffected by the system model errors. The designed controllers can stabilize the Euler angles and make the quadrotor to move (x,y,z) positions to their desired values. The validation of the results has been tested in MATLAB simulation and exhibits adequate performance.