Robust trajectory tracking control of a quadrotor helicopter

In this paper, a nonlinear controller endowed with a disturbance´s estimator, based on the Immersion and Invariance control technique, is proposed. This nonlinear controller is applied to the six degrees of freedom dynamics of the quadrotor helicopter to achieve regulation and trajectory tracking. The proposed estimator can reconstruct constant disturbances entering additively to the dynamic model. An experimental evaluation was carried out in order to show the performance of the proposed controller.