Attitude stability control of Quad-rotor aerial robot base on controlled Lagrangian method

Over the last decade, a kind of Quad-rotor aerial robot, with its characteristics such as simple structure and flexible control, has become the hotspot in the field of small aerial robots research content. In this paper, based on the energy shaping theory, the controlled Lagrangians method will be introduced into the attitude stability control system of Qaud-rotor aerial robot in order to predigest the design procedure and guarantee the exact tracking to the desired angle signals. At finally, the availability of the proposed scheme is verified through numerical simulation with different initial state.