Decoupled trajectory tracking controllers design for multirotors

A controller design method is pro- posed to control quadrotors with six degrees of freedom. The vehicle sys-Tem is divided into four subsystems: The longitudinal, lateral, yaw, and height subsystems. A linear and de- coupled nominal model is obtained for each subsystem, while coupling and nonlinear dynamics, parametric perturbations, and external disturbances are considered as uncertainties. For each subsystem, a decoupled robust controller is proposed. Although there exist couplings between each channel, the output tracking errors of the four subsystems are proven to ultimately converge into a-priori set neighbor- hood of the origin. Real-Time implementation results of the decoupled controller are given to demonstrate its viability.