| Autor: |
Leomanni, Mirko, Dionigi, Alberto, Ferrante, Francesco, Valigi, Paolo, Costante, Gabriele |
| Rok vydání: |
2024 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The stability of the cascade is often proved by employing trajectory-based arguments, most notably, integral input-to-state stability. In this paper, we follow a different route and present a control law ensuring that a composite function constructed from the translational and rotational tracking errors is a Lyapunov function for the closed-loop cascade. In particular, starting from a generic control law for the double integrator, we develop a suitable attitude control extension, by leveraging a backstepping-like procedure. Using this construction, we provide an almost global stability certificate. The proposed design employs the unit sphere $\mathcal{S}^2$ to describe the rotational degrees of freedom required for position control. This enables a simpler controller tuning and an improved tracking performance with respect to previous global solutions. The new design is demonstrated via numerical simulations and on real-world experiments. |
| Databáze: |
arXiv |
| Externí odkaz: |
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