Title :
Attitude control of VTOL-UAVs
Author :
Heidarian, Maryam ; Memon, Attaullah Y.
Author_Institution :
Dept. of Electron. & Power Eng., Nat. Univ. of Sci. & Technol. (NUST), Karachi, Pakistan
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.
Keywords :
asymptotic stability; attitude control; autonomous aerial vehicles; helicopters; propellers; torque; Coriolis; PVTOL; VTOL-UAV; asymptotic attitude stability; asymptotic stability; attitude angles; attitude angular velocity; attitude control; attitude parameters; exponential stability; gyroscopic torques; planar vertical take off and landing; quadrotor UAV; quaternion representation; rigid mono-directional propellers; unmanned aerial vehicles; Angular velocity; Attitude control; Equations; Mathematical model; Quaternions; Rotors; Torque; Attitude Control; Quadrotor; UAV; VTOL; Velocity Control;
Conference_Titel :
Control (CONTROL), 2012 UKACC International Conference on
Conference_Location :
Cardiff
Print_ISBN :
978-1-4673-1559-3
Electronic_ISBN :
978-1-4673-1558-6
DOI :
10.1109/CONTROL.2012.6334657