Attitude control of VTOL-UAVs.

Heidarian, Maryam; Memon, Attaullah Y.

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.

Citation

HEIDARIAN, M. and MEMON, A.Y. 2012. Attitude control of VTOL-UAVs. In Proceedings of the 2012 UKACC international conference on control (CONTROL 2012), 3-5 September 2012, Cardiff, UK. Piscataway: IEEE [online], pages 363-368. Available from: https://doi.org/10.1109/CONTROL.2012.6334657

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2012 UKACC international conference on control (CONTROL 2012)
• Start Date: Sep 3, 2012
• End Date: Sep 5, 2012
• Acceptance Date: Jun 9, 2012
• Online Publication Date: Oct 22, 2012
• Publication Date: Dec 31, 2012
• Deposit Date: May 5, 2020
• Publicly Available Date: May 5, 2020
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Peer Reviewed: Peer Reviewed
• Pages: 363-368
• ISBN: 9781467315593
• DOI: https://doi.org/10.1109/CONTROL.2012.6334657
• Keywords: Angular velocity; Torque; Rotors; Attitude control; Mathematical modeling; Quaternions
• Public URL: https://rgu-repository.worktribe.com/output/905822