Trajectory Tracking Control of Quadrotor via Minimum Projection Method ?

摘要

In this paper, we consider a nonlinear tracking controller design problem for a quadrotor. For the controller design, we design a tracking control Lyapunov function (TCLF) based on the minimum projection method. However, it is not clear whether we can design the TCLF for a quadrotor by the method. In particular, it is difficult to calculate the TCLF without reducing the amount of computation. We show that the use of the orthogonal property of the direction cosine matrix in the quadrotor dynamics has the effect of reducing the computation. Finally, we demonstrate the computer simulation for a given trajectory.