Trajectory Tracking for Quadrotors Using Tilt-Prioritized Attitude Control

This paper presents a trajectory-tracking approach for quadrotors using a tilt-prioritized attitude controller. The proposed control framework prioritizes tilt angles (the direction of the body z-axis) over yaw orientation to improve the translational trajectory tracking performance. A linear modulation parameter is introduced to enable a smooth transition between the UAV only tilting and the UAV tilting and orientating in yaw. Additionally, since it does not use operations with quaternions, matrix multiplication, or matrix inverses, the proposed controller is computationally efficient and easy to implement, making it well-suited for micro or small aerial vehicles. Real-world experiments validate the proposed method, demonstrating its effectiveness in agile trajectory tracking.