Large-angle and High-speed Trajectory Tracking Control of a Quadrotor UAV based on Reachability
Zhou Liu,Lilong Cai,Zhou Liu,Lilong Cai
This paper solves the tracking control problem for a quadrotor system under the tasks of large-angle rotation and high-speed trajectory tracking. A quadrotor dynamic model is presented taking both disturbances and drag force into account. A reachability control strategy is developed for a quadrotor to track the planned attitude and position. Outdoor experiments of a circle trajectory tracking at d...
