Cascaded Geometric Flight Control: Stability and Pitfalls
Published:Dec 30, 2025 17:35
•1 min read
•ArXiv
Analysis
This paper provides a new stability proof for cascaded geometric control in aerial vehicles, offering insights into tracking error influence, model uncertainties, and practical limitations. It's significant for advancing understanding of flight control systems.
Key Takeaways
- •Presents a new stability proof for cascaded geometric control.
- •Uses sliding variables and a quaternion-based sliding controller.
- •Identifies how attitude loop error impacts the position loop.
- •Examines the effects of model uncertainties.
- •Highlights practical limitations of the control architecture.
Reference
“The analysis reveals how tracking error in the attitude loop influences the position loop, how model uncertainties affect the closed-loop system, and the practical pitfalls of the control architecture.”