Closed-form nonlinear tracking controllers for quadrotors with model and input generator uncertainties

The paper presents a new approach for trajectory tracking in a quadrotor-type helicopter. The proposed closed-form control schemes apply smooth bounded hyperbolic functions of the state variables for achieving trajectory tracking in the fully nonlinear system. The current approach accounts for main sources of uncertainties. This is the first time explicit formulas are produced for solutions of the considered control problems. A comparative study with existing controller is presented.