Quadrotor mathematical modeling + trajectory tracking control

Mathematical model (state space equation):

Control algorithm: finite-time control, literature [1]; proportional-derivative (PD) control, literature [2].

Comparison of control effects (PD control Vs finite-time control)

References:
[1]. Bhat S, Bernstein D S. Finite-time stability of homogeneous systems[C]// American Control Conference, 1997. Proceedings of the. IEEE, 2002:2513-2514 vol.4.
[2]. Zuo Z, Zhu M, Zheng Z. Trajectory Tracking Control of a Quadrotor Unmanned Mini-Helicopter[C]// Aiaa Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. 2013.