Trajectory Tracking Control for Quadrotors with Applications to UAV Formation
Shenggeng Hong, Jie Mei · 2019
This paper proposes a sliding mode controller for the drone to track a command trajectory under bounded external disturbances. In order to avoid geometrical singularity and gimbal lock caused by the Euler angle, quaternion is applied to express the attitude of the drone. The controller is designed on the error dynamics without simplification, which is divided into position loop and attitude loop. Sliding mode control is utilized for improving the robust performance. Based on the input-to-state stability and Lyapunov stability theorem, we prove that the error dynamics system is asymptotically stable. Based on consensus theory, the algorithm is applied to the formation control of multiple UAVs.