An exponentially stable control law for quadrotors: Simulations and experiments

A new exponentially stable nonlinear control law is presented for trajectory tracking, hovering, and yaw motion tracking problems. Since linear motion of quadrotors is achieved via roll and pitch angles, a relationship between roll and pitch accelerations and motion trajectory is developed. An exponentially stable trajectory error dynamics is then formulated to derive the roll and pitch moments and the thrust force. A similar control law is also developed for yaw motion. The control law is applied to hovering, straight line, and circular motion trajectory tracking simulation examples and experimentally verified in each case.

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