A Model-Free Control Scheme for Attitude Stabilization of Quadrotor Systems

Model Predictive Control applied to tracking and attitude stabilization of a VTOL quadrotor aircraft

Abstract. In this paper we present a new control approach for a quadrotor mini-helicopter using the model predictive control (MPC) technique. The formulation employed is based on a linear prediction model obtained by linearizing the plant’s dynamics around an equilibrium point. The optimal control sequence is implemented in a receding-horizon strategy. The optimization is repeated at each sampl...

Design of Attitude Control System for Quadrotor

Quadrotor is a widely used aircraft now and be with the nonlinear, uncertain characteristics. Because of requirement on high attitude stability the attitude control system of quadrotor needs to be well designed. Firstly the movement pattern and working principle of the quadrotor are analyzed. Then the hardware schematic diagram of attitude control system is designed which includes several senso...

Improving Attitude Estimation and Control of Quadrotor Systems

A numerical approach for attitude control of a quadrotor

This paper deals with a numerical approach to control aggressive maneuvers of a multi-rotor aerial vehicle. The proposed controller uses an approximate tabulated one-step time discretization of the state-space model to find out the outputs of controller. It objective is to minimize the distance between the plant output and a linear well chosen closed loop system used as reference, leading the s...

Attitude Stabilization of a Quadrotor by Means of Event-Triggered Nonlinear Control

Event-triggered control is a resource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback i...