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We propose a control protocol based on the prescribed performance control(PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotorsystems belong to the class of underactuated systems for which the original PPCmethodology cannot be directly applied. We introduce the necessary designmodifications to stabilize the considered system with prescribed performance.The proposed control protocol does not use any information of dynamic modelparameters or exogenous disturbances. Furthermore, the stability analysisguarantees that the tracking errors remain inside of designer-specifiedtime-varying functions, achieving prescribed performance independent from thecontrol gains' selection. Finally, simulation results verify the theoreticalresults.

Robust Trajectory Tracking for Underactuated Quadrotors with Prescribed Performance