Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking

We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our controller uses the logarithmic map SO(3) to express rotational error in Lie algebra, and we show it globally attractive without requiring complicated hybrid switching scheme. performance our against trajectories simulation experiments. Additionally, an adaptation this allows us interface effectively with angular rate controllers on onboard flight unit ability adapted track hardware platform.