Aggressive maneuver regulation of a quadrotor UAV

Sara Spedicato, Giuseppe Notarstefano, Heinrich H. Bülthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)


In this paper we design a nonlinear controller for aggressive maneuvering of a quadrotor. We take a maneuver regulation perspective. Differently from the classical trajectory tracking approach, maneuver regulation does not require following a timed reference state, but a geometric “path” with a velocity (and possibly orientation) profile assigned on it. The proposed controller relies on three main ideas. Given a desired maneuver, i.e., a set of state trajectories equivalent under time translations, the system dynamics is decomposed into dynamics longitudinal and transverse to the maneuver. A space-dependent version of the transverse dynamics is derived, by using the longitudinal state, i.e., the arc-length of the path, as an independent variable. Then the controller is obtained as a function of the arc-length consisting of two terms: a feed forward term, being the nominal input to apply when on the path at the current arc-length, and a feedback term exponentially stabilizing the state-dependent transverse dynamics. Numerical computations are presented to prove the effectiveness of the proposed strategy. The controller performances are tested in presence of uncertainty of the model parameters and input noise and saturations. The controller is also tested in a realistic simulation environment validated against an experimental test-bed.

Original languageEnglish
Title of host publicationRobotics Research - 16th International Symposium ISRR
EditorsPeter Corke, Masayuki Inaba
PublisherSpringer Verlag
Number of pages18
ISBN (Print)9783319288703
Publication statusPublished - 2016
Event16th International Symposium of Robotics Research, ISRR 2013 - Singapore, Singapore
Duration: 2013 Dec 162013 Dec 19

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other16th International Symposium of Robotics Research, ISRR 2013

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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