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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2510.12360 |
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| _version_ | 1866909844682833920 |
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| author | Ren, Weijie Liu, Haowen Duan, Guang-Ren |
| author_facet | Ren, Weijie Liu, Haowen Duan, Guang-Ren |
| contents | This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_12360 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control Ren, Weijie Liu, Haowen Duan, Guang-Ren Systems and Control Robotics This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control. |
| title | A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2510.12360 |