Improving the performance of aerial vehicles with delayed measures via state predictor-control: Experimental data validation

A state predictor control scheme is presented in this paper. The predictor is based on the Fundamental Calculus Theorem and its stability analysis is proved using the Backstepping approach. The proposed predictor-control scheme is validated in the nonlinear model of a quadrotor vehicle with delayed inputs. In order to prove its robustness in simulation, noise and dropout data are included in the emulation of the closed-loop system. In addition, real-data are also used to validate the predictor-control scheme. Numerical and experimental data results confirm the well behavior of the closed-loop system.