Path Tracking

Path tracking converts geometric references into feasible attitude and thrust commands. This chapter spans linear and nonlinear feedback structures used for hover and mission-level behavior.

Core Questions

• How should positional and attitude loops be decoupled?
• Which error-state definitions improve transient response?
• How do saturation and actuator limits affect stability margins?

Algorithms

• PID Hover
• LQR Hover
• Flight Ops Demo

Prerequisites

• State-space control basics
• Hover linearization around trim
• Attitude representation in SO(3)/Euler form