LAUSR

In this article, the problem of precisely tracking a nominal trajectory by an under-actuated multirotor platform is formulated as a game against bounded external disturbances, measurement noise, and initial condition uncertainty. The nominal trajectory is composed of desired position and yaw angle, which is known to be a differentially flat output for the multirotor state dynamics. Using this property, a linearized error dynamics is obtained in the vicinity of the nominal trajectory. Using the linearized error dynamics, a linear-quadratic differential game approach is used to propose an integrated estimation and control method for trajectory tracking. A salient feature of this approach is that the drag coefficients are estimated online from the information of the tracking error. Moreover, there are only six parameters to be tuned for both estimation and control loops. The intuitive rationale behind the tuning of these parameters is also discussed. Simulations as well as experimental validations are presented to demonstrate the performance and applicability of the controllers.