Geometric Controls of a Quadrotor UAV with Decoupled Yaw Control

Abstract

This paper presents a geometric control system for a quadrotor unmanned aerial vehicle with decoupled attitude controls. In particular, the attitude control system on the special orthogonal group is decomposed into the reduced attitude controls for the total thrust direction evolving on the two-dimensional unit sphere, and for the remaining one-dimensional rotations about the thrust vector corresponding to the yawing motion. Consequently, the yaw dynamics are controlled separately from the roll and pitch dynamics that are critical for the stability of the translational dynamics of the quadrotor. As such, the proposed controller exhibits improved position tracking capabilities especially for large-angle yawing motions. These are constructed directly on the two-sphere and the one-sphere to avoid complexities and singularities associated with local coordinates. Furthermore, the control systems are augmented with integral terms to deal with fixed disturbances. The efficacy of the proposed method is illustrated by numerical simulation.