Trajectory Tracking Method of Quadrotor Based on Geometric Control
Aiming at the control problems of under-driven quadrotor UAVs in large-angle and complex maneuvering flight,a trajectory tracking method based on geometric control is proposed.The controller has global stability and the system can recover from any initial state.Firstly,the configuration of the quadrotor system is modeled to solve the coupling effect between translational motion and rotational dynamics on the nonlinear manifold.Secondly,the tracking control is designed by using differential geometry in view of the basic geometric characteristics of the dynamic system.Finally,the system is simulated to verify the closed-loop stabil-ity of trajectory tracking.The simulation results show that when the initial attitude error is less than 90°,the system exhibits expo-nential stability,when the initial attitude error is greater than 90°and less than 180°,the system has global exponential attractive-ness.
quadrotor UAVtrajectory trackingnonlinear manifoldgeometric control
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