An Improved Geometric Controller for Position Tracking of the Quadrotors
Year: 2024
Type: article
Abstract: Automatic recovery and position tracking is one of the tremendous challenges for the airdropped or hand-thrown quadrotors. It surfers from large position errors and 0-360 degrees attitude errors. Singularity problem occurs of the classical geometric controller and this leads to crash. This letter presents a novel attitude extraction algorithm to develop an improved geometric controller. It is cascaded with a position loop and an attitude loop. The two loops are connected by the attitude extraction algorithm. The algorithm geometrically extracts the desired attitude from the desired thrust direction. Attitude tilt-priority can also be achieved by scarifying the yaw control. Unlike conventional methods with almost global stability, the closed system is proved to be globally asymptotically stable. It works well with initial large position and attitude errors that the singularity problem is completely avoided. Simulation comparisons are performed to verify the performance. The preliminary exploration provides a referential solution for the practical automatic position tracking applications of the airdropped or hand-thrown quadrotors.
Source: IEEE Access
Authors: Ma Zongcheng, Hu Jinglin, Liu Jianuo
Institution: PLA Air Force Aviation University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $1,995
OpenAlex ID: W4400944286