A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control
Abstract
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control.
Cite
@article{arxiv.2510.12360,
title = {A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control},
author = {Weijie Ren and Haowen Liu and Guang-Ren Duan},
journal= {arXiv preprint arXiv:2510.12360},
year = {2025}
}
Comments
This paper has been submitted to 2026 IFAC World Congress. Corresponding author: Guang-Ren Duan