Trajectory Tracking Control of Quadrotor Aerial Vehicle

We address the trajectory tracking control problem of a Quadrotor Aerial Vehicle (QAV) in the presence of the input constraints. To this purpose we propose a passivity-based control strategy to separate the handling constraints. Then, a nonlinear control law is designed by suitably combining the nested saturation technique, barrier Lyapunov function and passivity-based control. In the results, the designed controller ensures that the tracking error converges to the origin, the constraints are satisfied and the QAV will not overturn. Simulation results are provided to illustrate the effectiveness of our proposed approach.