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Attitude and position control with minimum snap trajectory planning for quadrotor UAV

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Abstract

In this paper, the Quadrotor attitude control and the problem of trajectory tracking has been addressed with minimum snap trajectory generation algorithm. The control system has been designed using proportional plus derivative (PD) control with two feedback loops. The attitude and position controllers have been designed in inner and outer loop, respectively. The designed controller is first tested for helical, infinity shaped trajectory and then for a minimum snap trajectory, which is generated from specified waypoints in three-dimensional space. The Euler–Lagrange equation has been used to obtain minimum snap trajectory condition, which results in a seventh order polynomial. The coefficients of the polynomials are obtained by applying enough constraints on velocity, acceleration, and higher derivatives. The trajectory generation with designed controller has been implemented in MATLAB environment. The controller shows efficient performance and good trajectory tracking for all the trajectories with minimum tracking error.

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Data availability

The data, material and Code used or analyzed during the current study are available from the corresponding author on reasonable request.

Abbreviations

PID:

Proportional integral derivative

SMC:

Sliding mode control

UAV:

Unmanned aerial vehicle

LQR:

Linear quadratic regulator

VTOL:

Vertical take-off and landing

MPC:

Model predictive control

MRAC:

Model reference adaptive control

EKF:

Extended Kalman filter

ESO:

Extended state observer

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No funding was received to assist with the preparation of this manuscript.

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Authors and Affiliations

  1. Department of Electrical Engineering, Madan Mohan Malaviya University of Technology Gorakhpur, Gorakhpur, U.P., India

    Brajesh Kumar Singh & Awadhesh Kumar

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  1. Brajesh Kumar Singh
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  2. Awadhesh Kumar
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The first author conceptualized the proposed work and prepared the manuscript while the second author supervised the work and reviewed the manuscript to improve the quality.

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Correspondence to Brajesh Kumar Singh.

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Singh, B.K., Kumar, A. Attitude and position control with minimum snap trajectory planning for quadrotor UAV. Int. J. Dynam. Control 11, 2342–2353 (2023). https://doi.org/10.1007/s40435-022-01111-3

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  • DOI: https://doi.org/10.1007/s40435-022-01111-3

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