Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking
This addresses the problem of precise and stable control for quadrotors during aggressive maneuvers, which is incremental as it builds on existing geometric control methods.
The paper tackles aggressive trajectory tracking for quadrotors by introducing a geometric control scheme using the logarithmic map of SO(3) to express rotational error, achieving global attractiveness without complex hybrid switching. It demonstrates performance in simulations and hardware adaptations for onboard flight control.
We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, and we show that it is globally attractive without requiring a complicated hybrid switching scheme. We show the performance of our controller against highly aggressive trajectories in simulation experiments. Additionally, we present an adaptation of this controller that allows us to interface effectively with the angular rate controllers on an onboard flight control unit and show the ability of this adapted control scheme to track aggressive trajectories on a quadrotor hardware platform.