An iterative learning controller for quadrotor UAV path following at a constant altitude

In this paper, a quadrotor model is proposed to describe the essential features of the system. An iterative learning controller scheme composed of PD controller and the anticipant controller is proposed to control the quadrotor to follow the same trajectory at a constant height. Furthermore, a lifted domain description of quadrotor model with iterative learning controller is synthesized to simplify the model output solution. Finally, the effectiveness of the proposed controller is tested on a simulation experiment of quadrotor and a offline tracking experiment.