Robust tracking of quadrotor UAV using RISE controller with input saturation

For the quadrotor unmanned aerial vehicle, a position tracking controller is developed using saturated robust integral of sign of error (RISE). The quadrotor dynamics are nonlinear and underactuated. Also, the dynamics are affected by added disturbance and uncertainty caused by ground effect. High gain controllers (such as RISE) can compensate for these effects but they do not consider the fact that the commanded input might require more actuation than is physically possible by the system. Based on the RISE control methodology, saturated RISE controller is able to utilize the benefits of high gain control while guaranteeing that the saturation limits are not exceeded and yields asymptotic tracking results. Numerical Simulation is performed on the quadrotor UAV model to prove the effectiveness of the controller.