Trajectory Tracking of AAVs Based on Rodrigues Parameter

The problem of trajectory tracking of unmanned aerial vehicles is researched by the aid of Rodrigues parameter. With the attitude planner being designed, the under-actuated translational system is transformed to the full-actuated form, and rotational error dynamics based-on Rodrigues parameter is obtained. To avoid unwinding phenomenon, a continuous nested saturation controller is constructed such that the input-to-state stability of the closed-loop error system is obtained, which is equivalent to the almost global tracking of the original system. It is supplemented by control allocation, and the reasonability of the schemes are demonstrated by the simulations of quadrotor package delivery.