Trajectory Tracking Control Performance Analysis of a Quadrotor in the Presence of External Disturbances

This paper presents a trajectory tracking control performance analysis of some common controllers in the presence of external disturbances for Crayzflie 2.0 nano quadrotor platform. For this purpose, the mathematical model of a quadrotor and physical parameters of Crazyflie 2.0 are summarized, and LQR, PD and SMC approaches are developed for it. After that, the performances of them are investigated through simulations in the presence of matched external disturbances in the horizontal plane for a squared trajectory. Simulation results indicate that PD and LQR controllers perform satisfactory results for acertain degree of bounds based on the linearized quadrotor dynamics without any disturbance, while SMC provides more robust performance even in the presence of external disturbances for trajectory tracking.