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Attitude control of VTOL-UAVs.

Heidarian, Maryam; Memon, Attaullah Y.


Attaullah Y. Memon


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.


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:

Conference Name 2012 UKACC international conference on control (CONTROL 2012)
Conference Location Cardiff, UK
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)
Pages 363-368
ISBN 9781467315593
Keywords Angular velocity; Torque; Rotors; Attitude control; Mathematical modeling; Quaternions
Public URL


HEIDARIAN 2012 Attitude control of VTOL-UAVs (244 Kb)

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© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses.

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