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    Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Paxman, Jonathan
    Date
    2013
    Type
    Conference Paper
    
    Metadata
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    Citation
    Do, Duc and Paxman, Jonathan. 2013. Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space, in L. Ntogramatzidis, P. Bahri (ed), Australian Control Conference, Nov 4-5 2013, pp. 26-33. Perth, WA: Institution of Engineers Australia (IEAust).
    Source Title
    Australian Control Conference
    Source Conference
    Australian Control Conference
    URI
    http://hdl.handle.net/20.500.11937/12901
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a new method for the design of controllers for quadrotor vertical take-off and landing (VTOL) aircraft which globally asymptotically track reference trajectories in three dimensional space. Roll and pitch angles plus the total thrust are considered immediate controls to track references in position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternions are used to represent the aircraft attitude and angular velocities. The results are illustrated with simulations.

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