Large-angle and High-speed Trajectory Tracking Control of a Quadrotor UAV based on Reachability

Zhou Liu; Lilong Cai

ICRA 2022poster6 citations

Large-angle and High-speed Trajectory Tracking Control of a Quadrotor UAV based on Reachability

Abstract

This paper solves the tracking control problem for a quadrotor system under the tasks of large-angle rotation and high-speed trajectory tracking. A quadrotor dynamic model is presented taking both disturbances and drag force into account. A reachability control strategy is developed for a quadrotor to track the planned attitude and position. Outdoor experiments of a circle trajectory tracking at different flight speeds validate the robustness of the proposed method. A task of flip is demonstrated to verify the effectiveness of the proposed controller under a large tilt angle.

BibTeX

@inproceedings{icra2022_largeangleandhig,
  title = {Large-angle and High-speed Trajectory Tracking Control of a Quadrotor UAV based on Reachability},
  author = {Zhou Liu and Lilong Cai},
  booktitle = {ICRA 2022},
  year = {2022}
}