Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space
This paper presents a new method for the design of controllers for quadrotor vertical take-off and landing (VTOL) aircraft which globally asymptotically track reference trajectories in three dimensional space. Roll and pitch angles plus the total thrust are considered immediate controls to track ref...
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| Other Authors: | |
| Format: | Conference Paper |
| Published: |
Engineers Australia, IEEE
2013
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/12901 |
| _version_ | 1848748204804276224 |
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| author | Do, Khac Duc Paxman, Jonathan |
| author2 | Lorenzo Ntogramatzidis |
| author_facet | Lorenzo Ntogramatzidis Do, Khac Duc Paxman, Jonathan |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a new method for the design of controllers for quadrotor vertical take-off and landing (VTOL) aircraft which globally asymptotically track reference trajectories in three dimensional space. Roll and pitch angles plus the total thrust are considered immediate controls to track references in position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternions are used to represent the aircraft attitude and angular velocities. The results are illustrated with simulations. |
| first_indexed | 2025-11-14T07:01:20Z |
| format | Conference Paper |
| id | curtin-20.500.11937-12901 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:01:20Z |
| publishDate | 2013 |
| publisher | Engineers Australia, IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-129012023-02-07T08:01:24Z Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space Do, Khac Duc Paxman, Jonathan Lorenzo Ntogramatzidis Parisa Bahri Real-time Systems Motion Control Nonlinear Systems and Control This paper presents a new method for the design of controllers for quadrotor vertical take-off and landing (VTOL) aircraft which globally asymptotically track reference trajectories in three dimensional space. Roll and pitch angles plus the total thrust are considered immediate controls to track references in position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternions are used to represent the aircraft attitude and angular velocities. The results are illustrated with simulations. 2013 Conference Paper http://hdl.handle.net/20.500.11937/12901 Engineers Australia, IEEE restricted |
| spellingShingle | Real-time Systems Motion Control Nonlinear Systems and Control Do, Khac Duc Paxman, Jonathan Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space |
| title | Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space |
| title_full | Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space |
| title_fullStr | Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space |
| title_full_unstemmed | Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space |
| title_short | Global Tracking Control of Quadrotor VTOL Aircraft in Three Dimensional Space |
| title_sort | global tracking control of quadrotor vtol aircraft in three dimensional space |
| topic | Real-time Systems Motion Control Nonlinear Systems and Control |
| url | http://hdl.handle.net/20.500.11937/12901 |