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A Robust Inner and Outer Loop Control Method for Trajectory Tracking of a Quadrotor.

Dunzhu Xia1, Limei Cheng2, Yanhong Yao3

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This study presents a geometric sliding mode control (SMC) for quadrotor trajectory tracking. The novel approach enhances response speed and robustness, validated through simulations and experiments.

Keywords:
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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Aerospace Engineering

Background:

  • Quadrotor trajectory tracking is challenging due to complex dynamics.
  • Existing control methods may lack robustness against uncertainties and disturbances.

Purpose of the Study:

  • To develop a robust geometric inner-outer loop control scheme for quadrotor trajectory tracking.
  • To enhance response speed and stability using sliding mode control (SMC).

Main Methods:

  • A geometric inner-outer loop control architecture was designed.
  • Sliding Mode Control (SMC) was implemented for both inner and outer loops.
  • Lyapunov and cascade theories ensured closed-loop system stability.

Main Results:

  • The controller demonstrated effective tracking of representative trajectories.
  • Robustness was verified under model uncertainties and external disturbances.
  • Experimental validation using ultra-wideband (UWB) positioning and Extended Kalman Filter (EKF) confirmed feasibility.

Conclusions:

  • The proposed geometric SMC controller offers a feasible and robust solution for quadrotor trajectory tracking.
  • Comparative experiments highlighted superior performance over traditional Proportional-Derivative (PD) controllers.