A 3D path-following approach for a multirotor UAV on SO(3)

Venanzio Cichella, Ronald Choe, S. Bilal Mehdi, Enric Xargay, Naira Hovakimyan, Isaac Kaminer, Vladimir Dobrokhodov

Research output: Contribution to journalConference articlepeer-review


This paper presents a path-following control law that enables a multirotor, equipped with an autopilot tracking angular rates and thrust reference commands, to converge to and follow a three-dimensional path. The approach is based on the Special Orthogonal group SO(3) and allows for independent adjustment of the vehicle's speed profile in order to satisfy desired temporal specifications. Simulation results illustrate the efficacy of the proposed path-following control law.

Original languageEnglish (US)
Pages (from-to)13-18
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue numberPART 1
StatePublished - Jan 1 2013
Event2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France
Duration: Nov 20 2013Nov 22 2013


  • Autonomous control
  • Autonomous vehicles
  • Geometric approaches
  • Path following

ASJC Scopus subject areas

  • Control and Systems Engineering


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