Stabilisation of quadrotor aircraft with constrained controls

Xuefei Yang, Bin Zhou and James Lam

International Journal of Systems Science, 2022, vol. 53, issue 6, 1245-1259

Abstract: This paper is concerned with the stabilisation problem of the quadrotor aircraft with constrained controls. Two control methods based on linearised/nonlinear model are, respectively, established. By utilising some specific canonical forms, nonlinear control laws consisting of saturation functions are proposed, in which the total saturation levels are not restricted to some fixed levels. Moreover, explicit conditions are given to guarantee the stability of the closed-loop systems, and some free parameters which can help to improve the control performance are introduced into these controllers. Finally, numerical simulations are given to illustrate the effectiveness and superiority of the proposed methods.

Date: 2022
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DOI: 10.1080/00207721.2021.1998718

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