Attitude Stabilization of a VTOL Quadrotor Aircraft（态度VTOL Quadrotor飞机的稳定）.pdfVIP

562 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 14, NO. 3, MAY 2006 Attitude Stabilization of a VTOL Quadrotor Aircraft Abdelhamid Tayebi and Stephen McGilvray Abstract— In this paper, we propose a new quaternion-based problem in dynamics since the angular velocity of the body feedback control scheme for exponential attitude stabilization of cannot be integrated to obtain the attitude of the body [7]. The a four-rotor vertical takeoff and landing aerial robot known as paper [17] contains an interesting list of references and proposes a quadrotor aircraft. The proposed controller is based upon the compensation of the Coriolis and gyroscopic torques and the use several control algorithms guaranteeing asymptotic stability of a PD2 feedback structure, where the proportional action is and, under certain initial conditions, local exponential stability in terms of the vector quaternion and the two derivative actions is shown. Most of the existing attitude controllers in the litera- are in terms of the airframe angular velocity and the vector ture are based upon the use of the quaternion representation to quaternion velocity. We also show that the model-independent describe the attitude of the body. This particular representation PD controller, where the proportional action is in terms of the vector-quaternion and the derivative action is in terms of the air- allows avoiding the singularities inherent to the direction cosine frame angular velocity, without compensation of the Coriolis and matrix obtained from Euler rotations [6], [8]. To the best of our gyroscopic torques, provides asymptotic stability