Robust control for attitude tracking problem for a quadrotor unmanned aerial vehicle

This paper proposes a new robust control based on a modified finite time algorithm for the attitude tracking of a quadrotor system to achieve a finite time convergence for all errors states. A complete version of the dynamical system based on Newton-Euler formalism is used. The stability of this algorithm is derived using a strong Lyapunov function technique, this approach allows not only to study more deeply the known properties of finite time convergence and robustness to strong perturbations, but also improve the dynamical performance and reduce the chattering phenomena. The simulation results are provided in order to illustrate the performances of the proposed controller.