Attitude Control of Quadrotor Using PD Plus Feedforward controller on SO(3)

This paper proposes a simple scheme of Proportional-Derivative (PD) plus Feedforward controller on SO(3) to control the attitude of a quadrotor. This controller only needs the measurement of angular velocity to calculate the exponential coordinates of the rotation matrix. With rotation matrix as an error variable of the controller, the simulation shows that the controller is able to drive the attitude of the quadrotor from hovering condition to desired attitude and from an attitude condition goes to the hovering condition, despite the system is disturbed. When the system is convergent, the rotation error matrix will be a 3x3 identity matrix

A Lagrangian UAV Swarm formation suitable for monitoring exclusive economic zone and for search and rescue

This paper presents the velocity controllers of the simple rigid-body individuals of a 2-D Lagrangian swarm model that can take up a linear formation which could be used by unmanned aerial dynamical systems for searching large areas. The velocity controllers are derived from a Lyapunov function. The Direct method of Lyapunov guarantees the stability of the system. The velocity controllers are then applied to a swarm of unmanned aerial vehicles. Simulation results are provided to support the results obtained

Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space

This paper presents a new method for the design of controllers for quadrotor vertical take-off and landing (VTOL) aircraft which globally asymptotically track reference trajectories in three dimensional space. Roll and pitch angles plus the total thrust are considered immediate controls to track references in position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternions are used to represent the aircraft attitude and angular velocities. The results are illustrated with simulations

Dynamics and Control of a Multi-Rotor Aircraft

Despite the fact that aerodynamic loads (forces and moments) induced by airflow relative to a quadrotor vertical take-off and landing aircraft consist of both deterministic and stochastic components, all existing works on controlling the aircraft either ignore these loads or treat them as deterministic. This simplification deteriorates the control performance in a practical implementation. This thesis presents a constructive design of controllers for a quadrotor aircraft to track a reference path in three-dimensional space under both deterministic and stochastic aerodynamic loads