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In this article, two redundant controllers that could be implemented without much difficulty are proposed to boost and improve the capabilities of the popular feedback linearization controller. The first one is built upon the model-free control theory while the second one is based on the sliding mode framework. Herein, the model-free control principle is used to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) in addition to the feedback linearization controller that is used instead of the proportional\u2013integral\u2013derivative structure. Unlike the existing sliding mode techniques, the designed one uses an input-dependent sliding surface. An in-depth discussion is highlighted with detailed evaluation in terms of performance, consumed energy, and robustness by considering several scenarios and using several metrics. The numerical simulations have shown satisfactory results considering multi-input multi-output system model through an application to a small quadrotor. The effectiveness of this approach is validated by experimentation.<\/jats:p>","DOI":"10.1177\/0959651818757159","type":"journal-article","created":{"date-parts":[[2018,3,6]],"date-time":"2018-03-06T04:54:13Z","timestamp":1520312053000},"page":"709-727","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Flight control boosters for three-dimensional trajectory tracking of quadrotor: Theory and experiment"],"prefix":"10.1177","volume":"232","author":[{"given":"Yasser","family":"Bouzid","sequence":"first","affiliation":[{"name":"IBISC Laboratory, Universit d\u2019Evry Val d\u2019Essonne, Universit Paris-Saclay, Evry, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Houria","family":"Siguerdidjane","sequence":"additional","affiliation":[{"name":"Signal and Systems Laboratory (L2S), CentraleSuplec, Universite Paris-Saclay, Gif sur yvette, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yasmina","family":"Bestaoui","sequence":"additional","affiliation":[{"name":"IBISC Laboratory, Universit d\u2019Evry Val d\u2019Essonne, Universit Paris-Saclay, Evry, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,3,6]]},"reference":[{"key":"bibr1-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206473"},{"key":"bibr2-0959651818757159","first-page":"642","volume-title":"Proceedings of the 2010 IEEE electronics, robotics and automotive mechanics conference","author":"Gonz\u00e1lez-V\u00e1zquez S"},{"key":"bibr3-0959651818757159","first-page":"3356","volume-title":"Proceedings of the 2008 American control conference","author":"Raffo GV"},{"key":"bibr4-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0441-1"},{"key":"bibr5-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.07.097"},{"key":"bibr6-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.08.002"},{"key":"bibr7-0959651818757159","doi-asserted-by":"publisher","DOI":"10.5772\/56785"},{"key":"bibr8-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2011.02.007"},{"key":"bibr9-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2013.12.017"},{"key":"bibr10-0959651818757159","first-page":"254","volume-title":"Proceedings of the 2012 IEEE international conference on automation and logistics","author":"Gong X"},{"key":"bibr11-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2016.08.001"},{"key":"bibr12-0959651818757159","first-page":"1","volume-title":"Proceedings of the 2007 Mediterranean conference on control automation","author":"Efe MO"},{"key":"bibr13-0959651818757159","first-page":"717","volume-title":"Proceedings of the 2014 IEEE conference on control applications","author":"Mu\u00f1oz V\u00e1zquez AJ"},{"key":"bibr14-0959651818757159","doi-asserted-by":"publisher","DOI":"10.3182\/20070903-3-FR-2921.00043"},{"key":"bibr15-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2009.2034145"},{"key":"bibr16-0959651818757159","first-page":"499","volume-title":"Proceedings of the IEEE 22nd international symposium on intelligent control","author":"Hu WF"},{"key":"bibr17-0959651818757159","first-page":"455","volume-title":"Proceedings of the 2008 IEEE conference on cybernetics and intelligent systems","author":"Ma L-X"},{"key":"bibr18-0959651818757159","first-page":"722","volume-title":"Proceedings of the 2013 IEEE international conference on control applications","author":"Wang J"},{"key":"bibr19-0959651818757159","volume-title":"Proceedings of the 4th international conference on control, decision and information technologies","author":"Bouzid Y"},{"key":"bibr20-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.825052"},{"key":"bibr21-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/320526"},{"key":"bibr22-0959651818757159","first-page":"153","volume-title":"Proceedings of the 2007 IEEE\/RSJ international conference on intelligent robots and systems","author":"Bouabdallah S"},{"key":"bibr23-0959651818757159","first-page":"910","volume-title":"Proceedings of the 2011 2nd international conference on intelligent control and information processing","volume":"2","author":"Fang Z"},{"key":"bibr24-0959651818757159","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2017.05.022"},{"key":"bibr25-0959651818757159","volume-title":"Non-linear control for underactuated mechanical systems","author":"Fantoni I","year":"2001"},{"key":"bibr26-0959651818757159","unstructured":"Bouabdallah S, Siegwart R. 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