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arXiv · 2605.15357

Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory

Stanislav Kim·Anton Pyrkin·Oleg Borisov
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Abstract

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By introducing additional integrators, a dynamic control algorithm with a simplified controller tuning methodology is obtained. The control law is synthesized within the geometric approach, and its stability is proven. A realizable output-feedback version using an extended observer is also given. The results enable coordinated trajectory following in three-dimensional space despite unmeasured disturbances and incomplete state information.

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Stanislav Kim, Anton Pyrkin, Oleg Borisov. 2026-05-14. Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory. https://doi.org/10.17586/0021-3454-2024-67-5-385-394

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