Newton-Raphson Flow for Aggressive Quadrotor Tracking Control

TL;DR

This paper demonstrates that the Newton-Raphson flow tracking controller provides superior aggressive quadrotor trajectory tracking performance compared to standard controllers, with real-world experiments confirming theoretical advantages.

Contribution

It applies the Newton-Raphson flow controller to quadrotor flight, showing its effectiveness and computational efficiency in real hardware over benchmark trajectories.

Findings

Achieves better tracking accuracy than PX4 native controller.

Demonstrates real-time implementation on hardware platform.

Provides theoretical guarantees of asymptotic error bounds.

Abstract

We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectories, beating the native trajectory tracking controller in the popular PX4 Autopilot. The Newton-Raphson flow tracking controller is a recently proposed integrator-type controller that aims to drive to zero the error between a future predicted system output and the reference trajectory. This controller is computationally lightweight, requiring only an imprecise predictor, and achieves guaranteed asymptotic error bounds under certain conditions. We show that these theoretical advantages are realizable on a quadrotor hardware platform. Our experiments are conducted on a Holybrox x500v2 quadrotor using a Pixhawk 6x flight controller and a Rasbperry Pi 4 companion computer which receives location information from an OptiTrack motion capture system and sends input commands through the ROS2 API for the PX4 software stack.