Abstract:We propose a quasi-static transverse feedback linearization (QSTFL) controller for a quadrotor to follow a prescribed geometric path, rather than a time-parameterized trajectory. In contrast to existing dynamic-feedback approaches, the controller does not introduce additional controller states. The thrust input is computed algebraically from the current state, eliminating the need for thrust-derivative measurements and numerical integration. The proposed design renders the path-following manifold invariant, ensuring that trajectories initialized on the path remain on it for all future time, while simultaneously regulating tangential velocity and yaw. We establish a diffeomorphic coordinate transformation and prove local exponential stability of the path-following manifold. In addition, closed-form expressions are derived for the thrust and torque inputs. Compared with dynamic-feedback constructions, the controller requires inversion of only a $3\times 3$ decoupling matrix rather than a $4\times 4$ one, leading to a simpler control law and reduced computational complexity. Numerical simulations demonstrate the effectiveness of the proposed method. Code and animations are publicly available at \footnotesize{\texttt{\href{this https URL}{this https URL}}}.
From: Adeel Akhtar [view email]
[v1]
Mon, 22 Jun 2026 12:07:11 UTC (373 KB)
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