Comparative Results on Stabilization of the Quad-rotor Rotorcraft Using Bounded Feedback Controllers

Stabilization and control of autonomous hexacopter via visual-servoing and cascaded-proportional and derivative (PD) controllers

“…Another way to control the hexacopter's translational motion along X-Y axes is to use nested saturation control law presented in [12][13]. For this controller, pitching and rolling torques are computed, respectively as follows: …”

Continuous Sliding Mode Control of a Quadrotor

“…The dynamic model of the rotorcraft can be developed using the Lagrangian form of the dynamics [2,16,14]. Since the Lagrangian contains no cross-terms in the kinetic energy combining ξ and η , the Euler-Lagrange equation is partitioned into the dynamics for the ξ coordinates and the η dynamics:…”

“…yy yy In order to obtain an appropriate form of the equations (7) - (9) the following change of input variables is proposed [2,16] Finally we obtain:…”

“…In order to reduce the dynamics coupling it is useful to design these control laws with respect to the body-fixed frame { } , , x y z and inertial coordinates ( , , ) X Y Z can be done by the rotation matrix R [16].…”

“…Therefore, different control techniques for quadro-copters have been recently proposed and investigated in the literature. Linearization and linear quadratic regulator (LQR) [1,2], H-infinity statespace design and feedback linearization [13,20], model predictive control [10], backstepping control [3] and feedback control laws with saturation elements [16] are among the popular design methods. Backstepping control approach was proposed in 1990s as a recursive procedure to design stable control laws for a wide class of nonlinear systems [12].…”