Geometric Tracking Control of a Multi-rotor UAV for Partially Known Trajectories

Yogesh Kumar; S. B. Roy; P. B. Sujit

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arXiv · 2311.07331

Geometric Tracking Control of a Multi-rotor UAV for Partially Known Trajectories

Yogesh Kumar·S. B. Roy·P. B. Sujit

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Abstract

This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the state-of-the-art geometric controller, effectively addressing challenges related to the non-existence of the desired attitude and ensuring positive total thrust input for all time. We tackle the additional challenge of the non-availability of the higher derivatives of the trajectory by introducing novel nonlinear filter structures. We formalize theoretically the effect of these filter structures on the system error dynamics. Subsequently, through a rigorous theoretical analysis, we demonstrate that the proposed controller leads to uniformly ultimately bounded system error dynamics.

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Yogesh Kumar, S. B. Roy, P. B. Sujit. 2023-11-13. Geometric Tracking Control of a Multi-rotor UAV for Partially Known Trajectories. https://arxiv.org/abs/2311.07331

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