A novel Lyapunov-based trajectory tracking controller for a quadrotor: Experimental analysis by using two motion tasks

Ricardo Pérez-Alcocer*, Javier Moreno-Valenzuela

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

13 Scopus citations

Abstract

A novel model-based controller for quadrotor trajectory tracking is presented in this paper. The closed-loop stability is studied by Lyapunov's theory guaranteeing local asymptotical stability of the resulting equilibrium point. The performance of the proposed scheme is compared in real time with respect to three known trajectory tracking controllers having different structures. Besides, two desired trajectories encoding different motion tasks are specified. The gains of the tested controllers are selected so that the mean value of the total thrust is the same. An analysis by using different performance indexes is employed in order assess the tracking performance of each scheme. The proposed controller presents the best experimental execution for the two implemented motion tasks.

Original languageEnglish
Pages (from-to)58-68
Number of pages11
JournalMechatronics
Volume61
DOIs
StatePublished - Aug 2019
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2019 Elsevier Ltd

Keywords

  • Lyapunov theory
  • Model-based controller
  • Quadrotor
  • Real–time experiments
  • Trajectory tracking

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