A Non-singular Hierarchical Trajectory Tracking Control of a Quadrotor without Attitude Rate Measurement

A hierarchical tracking controller of a quadrotorcraft is proposed where a non-singular attitude tracking is achieved without measuring attitude rate of the vehicle. A differential filter that avoids the need for measurement of attitude rate is used in the design and asymptotic convergence of tracking error is obtained. The overall control design follows a control hierarchy where the position and attitude controller is developed considering the effect of nonlinear coupling between the position and attitude dynamics.