Quadrotors Trajectory Tracking Control with Inaccurate GPS Measurements.*

This paper presents the study of a quadrotor trajectory tracking control for outdoor applications where the measurements provided by the sensors are noisy and imprecise. Time scale separation of the translational and rotational quadrotor dynamics is used to achieve trajectory tracking. A sliding mode controller is proposed for the translational dynamic and provides the desired orientation for the UAV, which is controlled by a linear PD control. Simulations are carried out to test the proposed controller taking into account the measurement error from real not expensive sensors.