Attitude control of VTOL-UAVs

Abstract

This paper presents a novel control approach to obtain asymptotic attitude stability of a quadrotor as a representative of Planar Vertical Take Off and Landing (PVTOL) Unmanned Aerial Vehicles (UAVs). The considered quadrotor is a symmetric VTOL-UAV with four rigid mono-directional propellers, which has been modeled based on quaternion representation with taking Coriolis and gyroscopic torques into account. In the proposed approach, two nearly equivalent control laws (model independent as well as model dependent) have been used to obtain exponential stability of attitude angles and asymptotic stability of attitude angular velocity of the quadrotor UAV. The proposed approach also presents how the attitude parameters i.e. attitude angles and attitude angular velocity can be quickly regulated to their desired values as required.

Modeling and identification of electric propulsion system for multirotor unmanned aerial vehicle design

“…It is undisputed that the propulsion system has an effect on unmanned vehicle platform dynamics. In most cases for modeling and control algorithm design the multirotor platforms are considered as a rigid body dynamics with the external forces and moments applied, proportional to the power of the propeller velocity [3][4][5][6], in some work even the motor dynamics is neglected [9]. Nevertheless the rotors give the ability to change the orientation of the vehicle only.…”

“…Therefore the propulsion system must be investigated carefully. In recent years many research studies considered more advanced modeling, paying attention to the aerodynamics of the propeller as well [7][8][9][10]. Different aspects of the propeller dynamics has been also examined G. Szafranski, , R. Czyba, M. Blachuta are with the Silesian University of Technology, Akadmicka 16, 44-100 Gliwice, Poland (corresponding author to provide phone: +48322372143; fax: +48322371165; e-mail: grzegorz.szafranski@polsl.pl).…”

H<inf>&#x221E;</inf> for quadrotor attitude stabilization

“…The controller was tested experimentally to achieve quadrotor attitude stabilization. Asymptotic exponential attitude stability was achieved by designing model independent and/or model dependent controllers based on quaternion representation [12]. These controllers were tested in simulation.…”