Quaternion-based trajectory tracking control of VTOL-UAVs using command filtered backstepping

This paper discusses trajectory tracking control for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) using the command filtered backstepping technique. Quaternions are used to represent the attitude of the vehicle to ensure the global attitude tracking without singularities. Since the quaternions have their own unique algebra, they cannot be filtered by a vector-based command filter; therefore, a second-order quaternion filter is developed to filter the quaternion and automatically compute its derivative, which determines the commanded angular rate vector. A quadrotor vehicle is used as an example to show the performance of the proposed controller.

[1]  Andrew Roberts,et al.  Adaptive position tracking of VTOL UAVs , 2011, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[2]  Taeyoung Lee,et al.  Optimal Control of a Rigid Body using Geometrically Exact Computations on SE(3) , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[3]  Ricardo G. Sanfelice,et al.  Invariance Principles for Hybrid Systems With Connections to Detectability and Asymptotic Stability , 2007, IEEE Transactions on Automatic Control.

[4]  Ricardo G. Sanfelice,et al.  Robust global asymptotic attitude stabilization of a rigid body by quaternion-based hybrid feedback , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[5]  Taeyoung Lee,et al.  Geometric tracking control of a quadrotor UAV on SE(3) , 2010, 49th IEEE Conference on Decision and Control (CDC).

[6]  T. Madani,et al.  Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[7]  N. Trawny,et al.  Indirect Kalman Filter for 3 D Attitude Estimation , 2005 .

[8]  Jay A. Farrell,et al.  Aided Navigation: GPS with High Rate Sensors , 2008 .

[9]  Malcolm D. Shuster,et al.  The nature of the quaternion , 2008 .

[10]  R. Stephenson.  A and V , 1962, The British journal of ophthalmology.

[11]  Claire J. Tomlin,et al.  Quadrotor Helicopter Trajectory Tracking Control , 2008 .

[12]  Vijay Kumar,et al.  Trajectory generation and control for precise aggressive maneuvers with quadrotors , 2012, Int. J. Robotics Res..

[13]  Nicolas Petit,et al.  The Navigation and Control technology inside the AR.Drone micro UAV , 2011 .

[14]  Ricardo G. Sanfelice,et al.  Quaternion-Based Hybrid Control for Robust Global Attitude Tracking , 2011, IEEE Transactions on Automatic Control.

[15]  Marios M. Polycarpou,et al.  Command filtered backstepping , 2009, 2008 American Control Conference.

[16]  Abdelhamid Tayebi,et al.  Unit Quaternion-Based Output Feedback for the Attitude Tracking Problem , 2008, IEEE Transactions on Automatic Control.