Zhi-Hui Wang

A Robust Dual-Loop Control Framework for Quadrotor UAV Trajectory Tracking

Quadrotor unmanned aerial vehicles (UAVs) are characterized by highly coupled, nonlinear, and underactuated dynamics, which make accurate trajectory tracking challenging in the presence of external disturbances, actuator faults, and model uncertainties. To address this problem, this paper designs a robust dual-loop tra...