Quadrotor tracking control based on a moving frame

A model for a quadrotor helicopter, its flatness-based parameterization, and its control are investigated. The model is transformed by expressing the configuration in terms of a reference trajectory and the deviation from the latter. A flat output for the error system is introduced. A dynamic and a quasi-static feedback for asymptotic stabilization of reference trajectories are derived. The approach avoids introducing artificial singularities and provides the possibility for tracking “acrobatic” trajectories. A simulation result with the quadrotor flying a loop is shown.