Constrained-control of a quadrotor helicopter for trajectory tracking under wind-gust disturbances

In this paper a Constrained Finite Time Optimal Controller (CFTOC) for the problem of trajectory tracking of an Unmanned quadrotor Helicopter (UqH) is presented. The controller is designed based on a Piecewise modeling of the quadrotor for the rotational angles, that are inherently coupled to the translation equations of motion. The proposed CFTO-control scheme is able to take under certain factors that degrade the performance of the helicopter such as the physical and mechanical constraints of the system. Simulation studies illustrate the efficacy of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts.