Tracking Control of Quadrotor UAV with Input Delay

This paper aims to solve the position control problem for quadrotor unmanned aerial vehicle (UAV). In order to be closer to the real UAV system, we consider the UAV with input delay. A barrier Lyapunov function is introduced to ensure that the tracking error is limited within a predetermined range. Pade approximation and an intermediate variable are applied to compensate the effect of the input delay. By using the designed control method, the UAV can track the desired trajectory. Finally, the simulation example is given to verify the effectiveness of the proposed approach.