Robust tracking control of quadrotor under measurement sensitivity

In this paper, we consider a robust tracking control problem of quadrotor under measurement sensitivity. The feature of our control problem is the presence of uncertain measurement sensitivity and external disturbance in the quadrotor. Thus, instead of using normal feedback, the available feedback for the controller is perturbed by uncertain time- varying functions. We propose a robust gain-scaling controller and controlled system states remain bounded. Moreover, it is shown that the ultimate bounds can be made small by adjusting the gain-scaling factor. Simulation results are given for illustration.