Non-linear attitude control methods for quadrotor MAVs — A study

摘要

This paper presents results of simulation studies carried out on the Dragon Flyer quadcoptor for non linear attitude/ altitude control with vision as feedback. The control schemes are based on the integral backstepping approach in Proportional Integral Derivative regulation format and the dynamic surface control approaches. The Lyapunov theorem is used to guarantee stability in the asymptotic sense. Simulation results discuss the feasibility and effectiveness of the two approaches using vision in the control loop for the highly non linear quadrotor testbed that is difficult to stabilize using traditional control approaches.