Fully Actuated System-Based Control for Precise Trajectory Tracking of Quadrotor UAVs

This paper proposes a Fully Actuated System (FAS)-based control approach for quadrotor unmanned aerial vehicle (UAV) trajectory tracking. The control problem remains challenging due to system uncertainty, external disturbance, and actuator constraints, which affect tracking performance. The proposed method integrates active disturbance rejection control techniques to address these challenges for precise disturbance estimation and feedback generation. The FAS-based control strategy enhances robustness and stability by optimizing the eigenstructure of the closed-loop system, ensuring faster convergence, improved transient response, and reduced tracking error. The proposed controller is validated through numerical simulation. The result confirms that the FAS-based approach effectively tracks the reference trajectory with smaller errors, demonstrating adaptability in dynamic conditions.