Quadrotor control for trajectory tracking in presence of wind disturbances

Quadrotor helicopters have been the focus of many research works during the last decade. Thanks to their numerous appealing features, their applications are increasingly reported in the literature. Their main limitation, however, is their lightweight which makes them sensitive to external disturbances. The aim of this paper is to achieve robust trajectory following for a Quadro-UAV, in the presence of wind disturbances. Two nonlinear controllers are designed and discussed, the first controller is based on Feedback Linearisation, while the second is designed using a Backstepping approach. Numerical simulations are provided to support the controllers design and assess their robustness to wind gust disturbances.