Inverse dynamics based altitude/attitude control and stabilization of a quadrotor UAV

摘要

This paper presents an inclusive study on dynamical modeling, nonlinear angular control, and stabilization of a quadrotor aerial robot. Due to inherent nonlinear and coupled quadrotor dynamics, inverse dynamics based control is designed which renders a decoupled control solution. Third and fourth order Lie derivatives are avoided using static feedback. Designed nonlinear controller stabilizes the angular states from specified aggressive initial conditions, which is not possible using classical linear controllers. This brief also presents successful tracking of desired angular states. In addition, mathematical model of quadrotor aerial robot is recalled and derived using the Newton-Euler method. Simulation results are presented that strongly verify the effectiveness of designed controller.