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arXiv · 2409.05702

Almost Global Trajectory Tracking for Quadrotors Using Thrust Direction Control on $\mathcal{S}^2$

Mirko Leomanni·Alberto Dionigi·Francesco Ferrante·Paolo Valigi·Gabriele Costante
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Abstract

Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The stability of the cascade is often proved by employing trajectory-based arguments, most notably, integral input-to-state stability. In this paper, we follow a different route and present a control law ensuring that a composite function constructed from the translational and rotational tracking errors is a Lyapunov function for the closed-loop cascade. In particular, starting from a generic control law for the double integrator, we develop a suitable attitude control extension, by leveraging a backstepping-like procedure. Using this construction, we provide an almost global stability certificate. The proposed design employs the unit sphere $\mathcal{S}^2$ to describe the rotational degrees of freedom required for position control. This enables a simpler controller tuning and an improved tracking performance with respect to previous global solutions. The new design is demonstrated via numerical simulations and on real-world experiments.

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Mirko Leomanni, Alberto Dionigi, Francesco Ferrante, Paolo Valigi, Gabriele Costante. 2024-09-09. Almost Global Trajectory Tracking for Quadrotors Using Thrust Direction Control on $\mathcal{S}^2$. https://doi.org/10.1109/cdc56724.2024.10886381

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