Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory
Systems and Control
2026-05-18 v1 Systems and Control
Abstract
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By introducing additional integrators, a dynamic control algorithm with a simplified controller tuning methodology is obtained. The control law is synthesized within the geometric approach, and its stability is proven. A realizable output-feedback version using an extended observer is also given. The results enable coordinated trajectory following in three-dimensional space despite unmeasured disturbances and incomplete state information.
Cite
@article{arxiv.2605.15357,
title = {Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory},
author = {Stanislav Kim and Anton Pyrkin and Oleg Borisov},
journal= {arXiv preprint arXiv:2605.15357},
year = {2026}
}