Trajectory tracking control of quadrotor based on global stability

According to the characteristics of the quadrotor´ mathematical model and the trajectory tracking control problem, a trajectory tracking control of global stability strategy is proposed in this paper. Based on its features, the model is divided into two parts: an underactuated subsystem and a fully actuated subsystem; sliding mode control method is applied to the design of the controller of the fully actuated subsystem. Based on the global asymptotic stability theorem of dynamic system, the inner loop of an underactuated subsystem is rearranged into a stable global Lipschitz closed-loop system. The outer loop is designed through sliding mode control method, and therefore enables a strictly stable double loop sliding-mode track control for the underactuated subsystem. Simulation results show that the proposed method simplifies the design process of controller and enables the quadrotor to track a trajectory rapidly.