Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory
For quadcopter control practitioners, this provides a simplified tuning methodology and output-feedback solution for smooth trajectory following.
The paper presents a robust control algorithm for quadcopter trajectory tracking using only linear coordinates and yaw angle measurements, achieving coordinated 3D motion despite disturbances and incomplete state information.
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By introducing additional integrators, a dynamic control algorithm with a simplified controller tuning methodology is obtained. The control law is synthesized within the geometric approach, and its stability is proven. A realizable output-feedback version using an extended observer is also given. The results enable coordinated trajectory following in three-dimensional space despite unmeasured disturbances and incomplete state information.