摘要：AbstractThis paper studies the 3D trajectory tracking for the quadrotor commercial prototype AR.Drone 2.0 of the French company Parrot. The proposed control strategy is designed using a time-varying version of the backstepping technique. For the implementation of the control law, it is assumed that only the position and orientation of the AR.Drone are known; linear and angular velocities of the AR.Drone are estimated using suitable Luenberger observers. The proposed control strategy allows an AR.Drone 2.0 to converge asymptotically to a predetermined flight trajectory. The theoretical results are validated through real-time experiments.
