Pith Number

pith:DYZDZ267

pith:2026:DYZDZ267SJCSW2NEH3LMYKT3Q7

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Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory

Anton Pyrkin, Oleg Borisov, Stanislav Kim

Quadcopters follow smooth 3D trajectories using only position and yaw measurements despite unmeasured disturbances.

arxiv:2605.15357 v1 · 2026-05-14 · eess.SY · cs.SY

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Record completeness

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3 Author claim open · sign in to claim

4 Citations open

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Claims

C1strongest claim

The results enable coordinated trajectory following in three-dimensional space despite unmeasured disturbances and incomplete state information.

C2weakest assumption

The quadcopter dynamics admit a complete model for smooth spatial trajectories, and the geometric approach applies directly to the underactuated system with the chosen measurements.

C3one line summary

A geometric control law with dynamic extension and extended observer is proposed for quadcopter trajectory tracking with proven stability under disturbances.

References

8 extracted · 8 resolved · 0 Pith anchors

[1] Miroshnik I. V., Nikiforov V. O., Fradkov A. L. Nonlinear and Adaptive Control of Complex Dynamical Systems. St. Petersburg: Nauka, 2000. 549 p. (in Russian) 2000

[2] 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. 2019 · doi:10.1016/j.ifacol.2019.12.067

[3] 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. Vol. 64, No. 12 2021

[4] Kim S. A., Pyrkin A. A., Borisov O. I. Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode // Journal of Instrument Engineering. 2023. Vol. 66, No. 10. P. 834--844. (in Russian) 2023

[5] Burdakov S. F., Miroshnik I. V., Stelmakov R. E. Motion Control Systems for Wheeled Robots. St. Petersburg: Nauka, 2001. 232 p. (in Russian) 2001

Receipt and verification

First computed	2026-05-20T00:00:54.197875Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1e323cebdf92452b69a43ed6cc2a7b87ec8956848faf07fa8f76b7094277c975

Aliases

arxiv: 2605.15357 · arxiv_version: 2605.15357v1 · doi: 10.48550/arxiv.2605.15357 · pith_short_12: DYZDZ267SJCS · pith_short_16: DYZDZ267SJCSW2NE · pith_short_8: DYZDZ267

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/DYZDZ267SJCSW2NEH3LMYKT3Q7 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 1e323cebdf92452b69a43ed6cc2a7b87ec8956848faf07fa8f76b7094277c975

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b15a996539c094558007dad9a6b4a3704c1be1f6da76c20612dc9b1aac984f41",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-05-14T19:38:28Z",
    "title_canon_sha256": "7820537358a86fa43d8460dfcb611a3f532f76e575f3111131352e524c96a4fa"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.15357",
    "kind": "arxiv",
    "version": 1
  }
}