Reactive-Based Position Control of an Underactuated Quadrotor

This paper addresses the problem of position control or waypoint tracking for an underactuated quadrotor. The proposed control law is what is known as reaction based in the way that the attitude system reacts to errors in the translational motion. This methodology requires no generation of desired attitude or angular velocity and the resulting control law is model-independent in that it does not require the knowledge of the inertia matrix. In addition the controller has a very simple structure making it suitable for small quadrotor platforms. Simulation results are provided and discussed to demonstrate the proposed method.