An output maneuvering approach to control the Cartesian position of the quadrotor helicopter

This paper proposes an output maneuvering control scheme for the Cartesian position of the quadrotor helicopter. The output maneuvering controller is used in conjunction with previously proposed altitude and attitude nonlinear controllers. It is shown that the closed-loop system enters to an invariant manifold where the path following error is equal zero while all other signals are bounded. The performance of the proposed controller is verified by means of numerical simulations.