Attitude control with a region-based method for an unmanned aerial vehicle

摘要

This paper presents dynamic inversion control with a region control method. Dynamic inversion control is chosen to deal with the strong coupling effect present in an underactuated aerial vehicle (quadrotor). Dynamic inversion is effective in both linear and nonlinear control whilst the region control method is a method that can reduce the energy consumption of the quadrotor. Numerical simulations are presented to demonstrate the effectiveness of the proposed controller.