Almost Global Trajectory Tracking for Quadrotors Using Thrust Direction Control on $\mathcal{S}^2$
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866915210444406784 |
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| author | Leomanni, Mirko Dionigi, Alberto Ferrante, Francesco Valigi, Paolo Costante, Gabriele |
| author_facet | Leomanni, Mirko Dionigi, Alberto Ferrante, Francesco Valigi, Paolo Costante, Gabriele |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_05702 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Almost Global Trajectory Tracking for Quadrotors Using Thrust Direction Control on $\mathcal{S}^2$ Leomanni, Mirko Dionigi, Alberto Ferrante, Francesco Valigi, Paolo Costante, Gabriele Systems and Control 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. |
| title | Almost Global Trajectory Tracking for Quadrotors Using Thrust Direction Control on $\mathcal{S}^2$ |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2409.05702 |