Trajectory Tracking Control of a Quadrotor Aerial Vehicle in the Presence of Input Constraints

  • Trong-Toan Tran
  • Shuzhi Sam
  • Wei He
  • Pham Luu-Trung-Duong
  • Nguyen-Vu Truong
Regular Papers Robot and Applications


In this paper, we address the control problem of a Quadrotor Aerial Vehicle (QAV) in the presence of the input constraints. For this purpose, a separation principle is applied in the control design. The QAV model is decoupled and constructed as a cascaded structure to handle its underactuated property. By imposing the constraints on the orientation angles, we show that the QAV will be never overturned. Then, a combination of the backstepping method, barrier Lyapunov and saturation functions is used in the control design for each subsystem to deal with both input and output constraints. Our design renders the cascaded system of the QAV into the form in which an Input-to-State Stable (ISS) subsystem is driven by an asymptotic subsystem, and hence the stability of the overall cascaded system of the QAV is ensured. In addition, the tracking errors are guaranteed to converge to the origin. Simulation results are provided to illustrate the effectiveness of the proposed control.


Bounded control input saturation quadrotor aerial vehicle trajectory tracking 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Trong-Toan Tran
    • 1
    • 6
  • Shuzhi Sam
    • 2
  • Wei He
    • 3
  • Pham Luu-Trung-Duong
    • 4
  • Nguyen-Vu Truong
    • 5
  1. 1.Graduate University of Science and Technology (GUST)VASTHanoiVietnam
  2. 2.Department of Electrical and Computer Engineering, and the Social Robotics Lab, Interactive Digital Media Institute (IDMI)National University of SingaporeSingaporeSingapore
  3. 3.School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijingChina
  4. 4.Engineering Product Development (EPD) PillarSingapore University of Technology and DesignTampinesSingapore
  5. 5.Institute of Applied Mechanics and InformaticsVietnam Academy of Science and TechnologyHanoiVietnam
  6. 6.Institute of Applied Mechanics and Informatics (IAMI)VASTHanoiVietnam

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