Cascaded energy based trajectory tracking control of a quadrotor

Oliver Fritsch, David Tromba, Boris Lohmann

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


This paper presents a cascaded nonlinear state feedback control law for a quadrotor, which achieves asymptotic tracking of a predefined position and heading reference trajectory. The inner-loop attitude controller and the outer-loop position controller reflect the cascade structure of the quadrotor dynamics and are designed independently using an energy shaping approach. The closed loop tracking error dynamics form a nonautonomous nonlinear cascade for whose zero equilibrium we prove almost global asymptotic stability. Experimental results show the performance of the control concept.

Original languageEnglish
Pages (from-to)408-422
Number of pages15
Issue number6
StatePublished - Jun 2014


  • Energy shaping
  • Nonlinear cascaded control
  • Quadrotor UAV


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