Abstract In this paper, a new simple tracking control scheme is presented for quadrotor systems with uncertain dynamics. It precludes the necessity for prohibitive analytic computation of the derivatives of the desired (virtual) attitude that is typically employed in controlling quadrotor systems. Moreover, this control scheme is approximation-free in the sense that it does not incorporate any adaptive laws, observers, or command filters to compensate for unknown parameters in the dynamics and the absence of the analytic differentiation, thus exhibiting remarkably low complexity levels and making its implementation straightforward. The thrust saturation is approached in the position control design, which also enables the singularity in desired attitude extraction to be avoided entirely. It is demonstrated that based on the proposed scheme, the tracking errors can be made arbitrarily small by appropriately selecting design parameters. Extensive simulations and experiments are performed to verify the effectiveness of our method.

中文翻译：

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存在推力饱和的不确定四旋翼系统的无近似简单控制器

摘要 本文针对动态不确定的四旋翼飞行器系统提出了一种新的简单跟踪控制方案。它排除了对通常用于控制四旋翼飞行器系统的所需（虚拟）姿态的导数进行禁止分析计算的必要性。此外，这种控制方案是无近似的，因为它不包含任何自适应定律、观察器或命令滤波器来补偿动力学中的未知参数和解析微分的缺失，因此表现出非常低的复杂性水平，并使它的实现简单明了。在位置控制设计中接近推力饱和，这也可以完全避免期望姿态提取中的奇异性。证明基于所提出的方案，the tracking errors can be made arbitrarily small by appropriately selecting design parameters. 进行了大量的模拟和实验以验证我们方法的有效性。