Attitude control improvement of a small Quad-rotor aircraft platform based on singular perturbations approach: Real-Time application

In this article, an attitude control in real-time is proposed using a inner loop control in each BrushLess DC (BLDC) motor to improve performance of a small Quad-rotor aircraft platform. The inner loop control is implemented by motor speed sensing feedback through reflex sensors in order to obtain a robust stabilization of the vehicle in hovering mode for indoor and outdoor applications. In addition, a control law based on Lyapunov Control Function (LCF) is proposed and extended to the singular perturbations problem for the corresponding stability analysis of the inner loop control that manages the angular velocity of the BLDC motors. Finally, experimental results show that the proposed real-time controller-based motor speed sensing feedback produces better control performance, particularly in handling external disturbances.