Guaranteed trajectory tracking control based on interval observer for quadrotors

This work proposes guaranteed trajectory tracking control for a quadrotor based on feedforward flatness control and an interval observer. Since the quadrotor is subject to bounded uncertainties (parameters, disturbances and noise), the state of this latter cannot be measured properly. Therefore, based on the information of the upper and lower limits of the initial condition, the uncertain parameters, the disturbance and the measurement noise, an...