Design of attitude control system for an UAV type-quadrotor based on dynamic contraction method

The problem of attitude stabilization and robust regulation of an indoor unmanned aerial vehicle, known as a quadrotor, is considered. This paper presents the design of continuous-time controller based on dynamic contraction method. The control task is formulated as a tracking problem of Euler angles, where desired output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. The resulting controller is a combination of a low-order linear dynamical system and a subsystem which accomplishes an algorithm of quadrotor control. The experiment results for tracking a reference signal are presented, and confirm the effectiveness of the proposed method and theoretical expectations.