Towards Tracking Trajectory of Planar Quadrotor Models

Abstract

The paper introduces the basis to control a simple planar quadrotor model in the tracking trajectory problem. The dynamics of the model is developed and a control system is designed and implemented to tracking two different trajectories without obstacles. General control system contains a PD controller to drive altitude (motion in z direction), and a cascade control scheme to drive y position by controlling orientation of roll angle. Results of the error position and command variables on two different trajectories are analyzed.