The Trajectory Tracking Problem of Quadrotor UAV: Global Stability Analysis and Control Design Based on the Cascade

SALINAS L.; SLAWIÑSKI, E.; MUT, V.

ASIAN JOURNAL OF CONTROL

CHINESE AUTOMATIC CONTROL SOC

Año: 2013 vol. 16 p. 1 - 15

1561-8625

This work proposes a kinematic nonlinear controller for an autonomous miniature helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking. The control law design is based on a Lyapunov technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is analyzed. Finally, simulation results are presented and discussed, which validate the proposed controller.