Trajectory Tracking Control of a Quad-Rotor UAV

De Xin Xu; Yan Hui Wei; Kun Peng He

doi:10.4028/www.scientific.net/AMM.419.718

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 419Trajectory Tracking Control of a Quad-Rotor UAV

Trajectory Tracking Control of a Quad-Rotor UAV

Abstract:

In order to solve the problem of trajectory tracking of the Quad-rotor UAV, a trajectory tracking control method based on rodrigues formula is proposed in this paper, which can transform the problem of position control to attitude control, thus we can solve the problem of the characteristics of nonlinear, coupled, multivariate and underactuated. A attitude stabilized controller is designed by the Rodrigues formula of rigid rotation. The Lyapunov stability analysis proved the stability of the controller. The simulation result proved that this approach method solve the problem of the trajectory tracking of the Quad-rotor UAV.

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Periodical:

Applied Mechanics and Materials (Volume 419)

Pages:

718-724

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.419.718

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Online since:

October 2013

Authors:

De Xin Xu, Yan Hui Wei, Kun Peng He

Keywords:

Quad-Rotor UAV, Rodrigues Formula, Trajectory Tracking

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