Trajectory tracking of a quadrotor via full-state feedback control
João Madeiras, Carlos Cardeira, Paulo Oliveira
Abstract
This paper introduces a novel control approach for underactuated aerial vehicles that eschews conventional control paradigms like the inner-outer loop or backstepping techniques. Rather, the proposed control strategy merges the position and attitude control systems cohesively, resulting in a more integrated and efficient control scheme. The proposed control strategy is designed to facilitate an exponential trajectory tracking while allowing for fine-tuning via full-state control methodologies, where both position and attitude inputs are modulated based on all system states. The design facilitates the application of linear and optimal control techniques, including the Linear Quadratic Regulator (LQR), to guarantee exponential convergence over an extensive domain of attraction. The performance and robustness of the proposed methodology are scrutinized through a combination of simulations, which serve to emphasize its appropriateness for a wide range of quadrotor applications.