Remote Tracking Control of a Quadrotor-Type Drone Subject to Uncertain Time Delays

This work is concerned with the remote position tracking control of a quadrotor-type drone via visual feedback. The stability or transient response of the drone may be significantly deteriorated by the adverse effect of time delays due to wireless communication and image processing. In general, these delays are difficult to estimate in advance. To achieve good control performance in the presence of such uncertain delays, we design a robust feedback controller in terms of linear matrix inequalities based on the guaranteed cost control technique. The effectiveness of the proposed method is verified by numerical simulations and an experimental result.