Trajectory Tracking Control for a QUAV With Performance Constraints

In this paper, a trajectory tracking control scheme is developed for a quadrotor unmanned aerial vehicle (QUAV) with unknown inertial moments and unknown interconnections among every attitude subsystem. In this scheme, the overall control system is decoupled into a position subsystem and an attitude subsystem. For the position subsystem, a position constraints controller is proposed, while a prescribed performance constraints controller is developed for the attitude subsystem. It is proved that all the signals in the closed-loop system are bounded and that both the position constraints and the prescribed performance constraints on attitude tracking errors can be achieved by guaranteeing the boundedness of the filtered tracking errors. The simulation results demonstrate the effectiveness of the proposed scheme.