Geometry-Based Output Robust Tracking Control of a Quadrotor

TL;DR

This paper presents a geometry-based control method for quadrotors that ensures accurate trajectory tracking despite unmeasurable angles, using an enhanced observer and internal model for robust performance.

Contribution

It introduces a novel control approach combining geometric methods with an enhanced extended observer and internal model to handle unmeasurable angles in quadrotor tracking.

Findings

Ensures semiglobal asymptotic convergence of tracking errors to zero.

Enables horizontal plane movement along sinusoidal or polynomial trajectories.

Provides a robust control framework for unmeasurable angles in quadrotor navigation.

Abstract

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it possible to ensure the movement of a quadrotor in a horizontal plane along a trajectory given in the form of a sinusoidal or second-order polynomial function with semiglobal asymptotic convergence of the tracking errors to zero.