Attitude stabilization of a VTOL quadrotor aircraft

By Abdelhamid Tayebi, Stephen McGilvray. IEEE Transactions on Control Systems Technology, 2006

1,065 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/aaee108112172525099fc77d72e075c29aa47c71

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In Aerospace Engineering

In Control and Systems Engineering

Citations in the corpus

Towards a navigation system for autonomous indoor flying (2009, background): “Many authors focused on the modeling and on the control of these vehicles [14], [16], [17], [4], with a particular emphasis on small helicopters.”
Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications (2015, background): “The outer-loops for trajectory dynamics along x -axis and y -axis are controlled by the formation controller (3), and the inner-loops for attitudes rotating around x -axis and y -axis are controlled by PD controllers shown in [43].”
Nonlinear robust tracking control of a quadrotor UAV on SE(3) (2011, positive): “An attitude control system based on quaternions is applied to a quadrotor UAV [5].”
Integral sliding mode control of a quadrotor with fractional order reaching dynamics (2011, background): “The problem of quadrotor control is a good test bed to demonstrate the merits and effectiveness of novel control schemes, see Bouabdallah et al. (2004), Bouabdallah and Siegwart (2005), Castillo et al. (2005), Tayebi and McGilvray (2006), Xu and Özgüner (2008) and the references therein.”
Super twisting control algorithm for the attitude tracking of a four rotors UAV (2012, methodology): “A wide class of controllers have been proposed for the attitude control problem (see for instance [6], [7], [8], [4], [5], and the list is not exhaustive).”
A Fully Autonomous Indoor Quadrotor (2012, background): “A Fully Autonomous Indoor Quadrotor Slawomir Grzonka, Giorgio Grisetti, and Wolfram Burgard Abstract—Recently, there has been increased interest in the development of autonomous flying vehicles.”
Unit Quaternion-Based Output Feedback for the Attitude Tracking Problem (2008, methodology): “In [ 15 ], some quaternion-based feedback controllers for the attitude stabilization have been proposed and tested experimentally on a quadrotor aircraft.”
Time-varying formation control for unmanned aerial vehicles with switching interaction topologies (2014, methodology): “The pitch, roll and yaw angles of each quadrotor are controlled by three decoupled PD controllers shown in Tayebi and McGilvray (2006) with a rate of 500 Hz respectively as the inner loop.”
Geometric tracking control of a quadrotor UAV on SE(3) (2010, background): “All of these assumptions are common [19], [4], and the presented control system can readily be extended to include linear rotor dynamics studied in [11].”
The true role of accelerometer feedback in quadrotor control (2010, methodology): “Such sensors are also used in “preliminary” experiments where the quadrotor is tethered to a test rig and free only to rotate [2], [ 3 ], [4].”
Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers (2014, background): “A quaternion-based feedback controller for attitude stabilization was shown in [26].”
The role of propeller aerodynamics in the model of a quadrotor UAV (2009, background): “While numerous teams have reported successful automatic flights [2], [6], [7], [8], this aerial platform, which has a low cost and agile dynamics, is still a subject of a collection of theoretical questions.”
Communications and Control for Wireless Drone-Based Antenna Array (2017, background): “ of the drone. The speed of rotor i2f1 ;2 3 4gis given by v i. For a quadrotor drone, the total thrust and torques that lead to the roll, pitch, and yaw movements are related to the rotors’ speeds by [28]: 0 B B B B B @ T tot 1 2 3 1 C C C C C A = 0 B B B B @ ˆ 1 ˆ 1 ˆ 1 ˆ 1 0 lˆ 1 0 lˆ 1 2lˆ 1 0”
Robust Backstepping Sliding-Mode Control and Observer-Based Fault Estimation for a Quadrotor UAV (2016, methodology): “For instance, Tayebi and McGilvray [1] proposed a new feedback control scheme for attitude stabilization of a quadrotor; Zuo [2] designed a flight control system capable of not only stabilizing attitude but also tracking a trajectory accurately for an underactuated quadrotor aircraft; [18] presented”