Path Following Control of Quadrotors Using Controllers Developed for General Euler-Lagrange Systems

This paper shows how the novel reactive controller can be applied to path following control of quadrotors by applying controllers developed for general Euler-Lagrange systems. Specifically, the paper augments the reactive controller and presents a sliding mode controller, a PID controller, a PD+ controller, a PI2D controller, a backstepping controller and an adaptive controller - all applied to the problem of path following for quadrotors by leveraging the ideas of the novel reactive controller. Simulations show the potential of this new idea, which greatly simplifies the problem of quadrotor control enabling the application of translational controllers directly to achieve a desired behaviour.