Quadrotor Trajecotry Tracking Control : A PD Control Algorithm

This paper constructs a relationship between attitude and translational movement of a quadrotor, and presents a PD logic tracking control design algorithm capable of not only stabilizing attitude but also tracking a desired trajectory accurately. In contrast to conventional flight control systems, the artificial inner/outer-loop structure is eliminated via using a third-order time optimal tracking-differentiator. Simulation results demonstrate a better performance than that of conventional ones with timescale separation requirement. Keywords-PD control; quadrotor; trajectory tracking; tracking-differentiator

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