2022/12/03 by Aeris El Asslouj, Hossein Rastgoftar, Asslouj, Aeris El +1 · 1 citation
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2212.01540
openalex publication_date 2022/12/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for characterization of rotation in a 3-dimensional motion space. Additionally, it is computationally expensive to convert a quadcopters orientation to the associated roll, pitch, and yaw angles, which may make it difficult to track quick and aggressive trajectories. To address these issues, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed controls performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities.