A Perception-feedback position-tracking control for quadrotors

TL;DR

This paper introduces a perception-feedback control method for quadrotors that directly uses onboard sensor measurements for position tracking, eliminating the need for state estimation and ensuring robustness and stability.

Contribution

It presents a novel perception-feedback control scheme that directly utilizes onboard sensor data for quadrotor position tracking, with proven stability and robustness.

Findings

Practical stability of the tracking error system is established.

The control scheme is robust under measurement noise and parameter uncertainties.

Numerical simulations confirm effectiveness and robustness.

Abstract

In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state estimation. Bias in gyros sensors are corrected to enhance the tracking performance. Practical stability of the origin of the tracking error system in the presence of external disturbances is proved using the Lyapunov analysis, which turns out to exponential stability in the absence of external disturbances. Numerical simulations are included to illustrate the proposed control scheme and to verify the robustness of the proposed controller under noisy measurements and parameter uncertainties.