A Perception-feedback position-tracking control for quadrotors

2025/12/03 by Eduardo Espíndola, Yu Tang, Espindola, Eduardo +1
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control and Stabilization in Aerospace Systems #FOS: Electrical engineering #Inertial Sensor and Navigation #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2512.03605

openalex publication_date 2025/12/03 · openalex created_date 2025/12/05 · openalex updated_date 2026/07/28

Abstract

In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state estimation. Bias in gyros sensors are corrected to enhance the tracking performance. Practical stability of the origin of the tracking error system in the presence of external disturbances is proved using the Lyapunov analysis, which turns out to exponential stability in the absence of external disturbances. Numerical simulations are included to illustrate the proposed control scheme and to verify the robustness of the proposed controller under noisy measurements and parameter uncertainties.

Citations

• Generative Neural Operators of Log-Complexity Can Simultaneously Solve Infinitely Many Convex Programs
• Attitude Tracking for Rigid Bodies Using Vector and Biased Gyro Measurements
• Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

Related

• Robust, Perception Based Control with Quadrotors
• Command-filter-based trajectory-tracking control of quadrotor subject to internal and external disturbances
• High-Gain Disturbance Observer for Robust Trajectory Tracking of Quadrotors
• Adaptive Sliding Mode Controller and Observer for Altitude and Attitude Control of a Quadrotor
• Adaptive Modified RISE Control for Quadrotors: Enhancing Trajectory Tracking Through Uncertainty Compensation