Asymptotic tracking control for an underactuated quadrotor via immersion and invariance technology

A nonlinear tracking control based on Immersion and Invariance-based(I&I) technology, is addressed to achieve asymptotic tracking for 3-D position and yaw motion of an underactuated quadrotor. In the underlying control scheme, an inner/outer-loop construction is designed to handle the underactuated property. The I&I technology is constructed for stable tracking for the inner-loop and outer-loop. Lyapunov Theorem is exploited to guarantee the asymptotic tracking stability of resulting closed-loop system. Numerical simulations on Matlab/Simulink environment are included to illustrate the effectiveness of proposed I&I control scheme.