{"paper":{"title":"Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory","license":"http://creativecommons.org/licenses/by/4.0/","headline":"Quadcopters follow smooth 3D trajectories using only position and yaw measurements despite unmeasured disturbances.","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Anton Pyrkin, Oleg Borisov, Stanislav Kim","submitted_at":"2026-05-14T19:38:28Z","abstract_excerpt":"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. 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V., Nikiforov V. O., Fradkov A. L. Nonlinear and Adaptive Control of Complex Dynamical Systems. St. Petersburg: Nauka, 2000. 549 p. (in Russian)","work_id":"2d3941ba-6741-4ad4-99a4-220e7d3f7251","ref_index":1,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"10.1016/j.ifacol.2019.12.067","year":2019,"title":"Borisov O. I., Pyrkin A. A., Isidori A. Application of enhanced extended observer in station-keeping of a quadrotor with unmeasurable pitch and roll angles // IFAC-PapersOnLine. 2019. Vol. 52, No. 16.","work_id":"fc2f3736-8644-4f2f-96f9-5a663296c2eb","ref_index":2,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2021,"title":"Borisov O. I., Kakanov M. A., Zhivitskii A. Yu., Pyrkin A. A. Robust output trajectory control of a quadcopter based on a geometric approach // Journal of Instrument Engineering. 2021. 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