Trajectory Tracking of AAVs Based on Rodrigues Parameter

• 成果类型: Article
• 署名作者: Wu, Zhaojing
• 署名单位: Yantai University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3567493
• 发表日期: 2025
• 页码: 6992-6999
• 关键词: Autonomous aerial vehicles; Quaternions; Attitude control; Trajectory tracking; vectors; Quadrotors; Materials requirements planning; mathematical models; asymptotic stability; torque; Quaternion; Rodrigues parameter (RP); saturation control; autonomous aerial vehicles (AAVs)

摘要

The problem of trajectory tracking of autonomous aerial vehicles (AAVs) is researched by the aid of Rodrigues parameter (RP). With the attitude planner being designed, the underactuated translational system is transformed to the full-actuated form, and rotational error dynamics based-on RP is obtained. To avoid unwinding phenomenon, a continuous nested saturation controller is constructed such that the input-to-state stability of the closed-loop error system is obtained, which is equivalent to the almost global tracking of the original system. It is supplemented by control allocation, and the reasonability of the schemes is demonstrated by the simulations of quadrotor package delivery.