The aim of this paper is to design a quadrotor tracking control with guaranteed performance using output feedback with modified command-generator tracker. This paper presents an approach for designing command-generator tracker control structure for position control (outer loop) and attitude control (inner loop) of quadrotor using robust performance design techniques. Modified command-generator tracker (CGT) control structure based on LQR output feedback is applied to provide zero tracking error at the outer loop. Robust performance with output feedback method is designed to guarantee stability in the presence of disturbance at the inner loop. The necessary and sufficient conditions for robust performance of quadrotor are formulated by an iterative linear matrix inequalities (LMIs) algorithm. Several simulations are performed to verify the effectiveness the proposed control method. Simulation results show that the quadrotor can track the reference signal asymptotically and maintain its stability despite the presence of disturbance.

Original languageEnglish
Pages (from-to)242-251
Number of pages10
JournalInternational Review of Automatic Control
Issue number4
Publication statusPublished - 2016


  • Command-generator tracker
  • Output feedback
  • Quadrotor
  • Robust performance


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