Construction and Tracking of Quadcopter Spatial Motion Trajectories

The problem of reference trajectory tracking for spatial motion of a quadcopter as a rigid body is considered. The state feedback linearization approach is used for synthesis of stabilizing controls. Reference trajectories are constructed in terms of three Cartesian coordinates of the spatial motion of the quadcopter’s center of mass and its rotational motion along the yaw angle based on third-order polynomials depending on time, taking into account constraints on the coordinates, velocities and accelerations during the entire process of motion. The performance of the proposed control law is verified numerically and experimentally on the Parrot Mambo quadcopter model using the MATLAB/Simulink software.