A NOVEL FLIGHT CONTORL ALGORITHM FOR MULTICOPTERS

摘要

A new nonlinear control algorithm is proposed for multi-copter type vertical takeoff vehicles. The algorithm uses linear controllers for the position control in the outer loop. The inner loop attitude control is carried out using quaternion representation. The necessary thrust vector requirements of the position control are converted to inner loop as attitude control commands. The inner loop uses a Lyapunov function based attitude controller utilizing the togo quaternion calculated from thrust vector commands. The yaw commands are also added to the to-go quaternion to realize the attitude control in one step.