Trajectory tracking based on a saturated PD controller on SE(3) for a micro coaxial drone

Abstract

In this work, the trajectory tracking of a micro coaxial rocket drone v3.0 (MCR UAV v3.0) is presented. For the mathematical model, the Newton–Euler formulation is used to obtain the equations of motion of the coaxial vehicle. To reach a robust trajectory tracking on SE(3), a guidance frame is defined and the control algorithm is a saturated PD in cascade for position dynamics and for the orientation dynamics of the vehicle. In this sense, a numerical simulation is run to validate the proposed control algorithm with and without wind disturbances. In effect, the proposed guidance frame is proposed to converge to the desired values whereas the saturated control avoids the overshoots of the state variables.