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This paper presents contributions on nonlinear tracking control systems for aquadrotor unmanned micro aerial vehicle. New controllers are proposed based onnonlinear surfaces composed by tracking errors that evolve directly on thenonlinear configuration manifold thus inherently including in the controldesign the nonlinear characteristics of the SE(3) configuration space. Inparticular geometric surface-based controllers are developed, and throughrigorous stability proofs they are shown to have desirable closed loopproperties that are almost global. A region of attraction, independent of theposition error, is produced and its effects are analyzed. A strategy allowingthe quadrotor to achieve precise attitude tracking while simultaneouslyfollowing a desired position command and complying to actuator constraints in acomputationally inexpensive manner is derived. This important contributiondifferentiates this work from existing Geometric Nonlinear Control Systemsolutions (GNCSs) since the commanded thrusts can be realized by the majorityof quadrotors produced by the industry. The new features of the proposed GNCSsare illustrated by numerical simulations of aggressive maneuvers and acomparison with a GNCSs from the bibliography.

Geometric Surface-Based Tracking Control of a Quadrotor UAV under Actuator Constraints