Abstract
The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.
Highlights
In the past decade, the small unmanned air vehicle (UAV) market has grown rapidly
The particular interest of the research community in the quadrotor design can be linked to two main advantages over comparable vertical takeoff and landing (VTOL) UAVs, such as helicopters
In [29], an sliding mode control (SMC) attitude controller was developed for a quadrotor
Summary
The small UAV market has grown rapidly. Small UAVs are applied in various areas such as surveillance, reconnaissance, and aerial photography. It successfully achieved attitude and position control even in the presence of actuator faults In another recent work [8], the problem of stabilization and disturbance rejection of attitude subsystem of a quadrotor was addressed. The problem of parametric uncertainties in the quadrotor model was investigated, and the controller was designed based on model reference adaptive control technique. The work in [28] explained the developments of the use of SMC for a fully actuated subsystem of a quadrotor to obtain attitude control stability. In [29], an SMC attitude controller was developed for a quadrotor It allowed for a continuous control robust to external disturbance and model uncertainties to be computed without the use of high control gain. Based on the results available in the literature, this work will investigate the attitude control design of a quadrotor UAV.
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