Path following for quadrotors

This paper presents a path following controller for quadrotors to follow splines in the output space. The control pipeline includes utilization of a cascaded control architecture, generation of paths using quintic spline interpolation, transformation of coordinates using Frenet-Serret (FS) frames, and decoupling controllers for the transversal and tangential sub-systems. The result is a time-invariant controller that renders the desired path invariant and attractive from arbitrary initial conditions, even when thrown into the air (shown in experiments), while maintaining a desired tangential velocity.