Quadcopter Tracking Using Euler-Angle-Free Flatness-Based Control

Aeris El Asslouj, Hossein Rastgoftar

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

1 Scopus citations


Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopter's rotational kinematics and dynamics. As a result, the same rotation can be translated into different roll, pitch, and yaw angles because there are multiple Euler angle standards for the characterization of rotation in a 3-dimensional motion space. To address this issue, this paper will develop a flatness-based trajectory tracking control without using Euler angles. We assess and test the proposed control's performance in the Gazebo simulation environment and contrast its functionality with the existing Mellinger controller, which has been widely adopted by the robotics and unmanned aerial system (UAS) communities. Our simulations also show that, for both controllers, the main cause of loss of stability is not the theoretical domain of stability, but it is instead the inability of quadcopter rotors to provide negative thrust as is requested by controllers for aggressive trajectories.

Original languageEnglish (US)
Title of host publication2023 European Control Conference, ECC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9783907144084
StatePublished - 2023
Event2023 European Control Conference, ECC 2023 - Bucharest, Romania
Duration: Jun 13 2023Jun 16 2023

Publication series

Name2023 European Control Conference, ECC 2023


Conference2023 European Control Conference, ECC 2023

ASJC Scopus subject areas

  • Control and Optimization
  • Modeling and Simulation


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