Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866913130686185472 |
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| author | Kim, Stanislav Pyrkin, Anton Borisov, Oleg |
| author_facet | Kim, Stanislav Pyrkin, Anton Borisov, Oleg |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_15357 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory Kim, Stanislav Pyrkin, Anton Borisov, Oleg Systems and Control 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. |
| title | Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2605.15357 |