Autonomous Trajectory Tracking Control Strategy of an Aerial Robot under Large Maneuver

Large maneuver flights of aerial robots are essential in practical missions, allowing them to avoid obstacles and perform tasks efficiently. This paper presents an autonomous trajectory tracking control strategy design of an aerial robot under large maneuver, ensuring the tacking accuracy and demonstrating effectiveness in real-flight tests. First, dynamics modeling and large maneuver trajectory design are presented. Next, the control strategy is developed with an inner-loop attitude controller and L1 control based outer-loop position controller. Finally, simulation experiment quantitively shows the designed strategy’s ability to achieve precise trajectory tracking under large maneuver, and real-flight tests further demonstrates the controller’s effectiveness in practical missions.