This paper deals with the problem of attitude control of a VTOL Quadrotor UAV. The mathematical model of the UAV has added endogenous and exogenous disturbances. In addition, loss of efficiency modelling in the actuators, noise and bias through time-varying multiplicative and additive actuator faults have been added. A control methodology based on the potential energy gradient of the aircraft is designed using a Lyapunov function. Through this control methodology, different control algorithms can be developed. Control actions are bounded, and global asymptotic stability is demonstrated. Numerical simulations illustrate the effectiveness of the pro-posed control law.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Bounded Gradient Attitude Control of a Quadcopter




    Publication date :

    2022-10-17


    Size :

    1712881 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Quadcopter UAV attitude control based on DDPG

    HUANG Xijie | DOAJ | 2024

    Free access

    Attitude Free Position Control of a Quadcopter using Dynamic Inversion

    Wang, Jian / Bierling, Thomas / Achtelik, Michael et al. | AIAA | 2011


    Attitude Free Position Control of a Quadcopter using Dynamic Inversion

    Wang, J. / Bierling, T. / Achtelik, M. et al. | British Library Conference Proceedings | 2011


    Design And Flight Testing Of LQRi Attitude Control For Quadcopter UAV

    Srivastava, Astik / Indu, S. / Sharma, Richa | ArXiv | 2024

    Free access

    Advanced PID attitude control of a quadcopter using asynchronous android flight data

    Alsharif, Mohammad A. / Arslantas, Yunus E. / Holzel, Matthew S. | IEEE | 2017