An Efficient Egocentric Regulator for Continuous Targeting Problems of the Underactuated Quadrotor

Currently, for the continuous targeting problem with underactuated quadrotor, a nonlinear optimal control method high computational efficiency is still missing. To tackle this problem, novel efficient egocentric regulation approach proposed in article. Specifically, it directly formulates an manner regarding quadrotor's body coordinates. Meanwhile, nonlinearities of system are decoupled through mapping feedback states and inputs, between inertial In way, only requires solving quadratic performance objective linear constraints then generates inputs analytically. Simulations mimic biological experiments carried out to verify effectiveness efficiency. Results demonstrate that presents highest most stable compared generic optimizers on different platforms. Particularly, commonly utilized onboard computer, our can compute action approximately 0.3 ms, which order 350 times faster than optimizers, establishing frequency around 3000 Hz.