Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory

Authors

Xuemin Yuan, 1. Nanjing University of Posts and Telecommunications, Nanjing 210023, China; ;
Kecai Cao, 1. Nanjing University of Posts and Telecommunications, Nanjing 210023, China; ;2. Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

Abstract

Abstract: The considered hexrotor is a symmetric VTOL-UAV with six rigid mono-directional propellers, and the interval between each propeller is 60°. In order to overcome the inherent geometric singularity of Euler angle description, quaternion representation was used to model. The effect of gyroscopic torques and reactive torques was taken into account when simplifying our model. An approach for hexrotor was proposed in which two nearly equivalent control laws were used to obtain asymptotic stability of attitude angles and attitude angular velocity of the hexrotor UAV. Simulation results emphasize the effectiveness of the proposed control scheme.

Recommended Citation

Yuan, Xuemin and Cao, Kecai (2020) "Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory," Journal of System Simulation: Vol. 27: Iss. 12, Article 23.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol27/iss12/23

First Page

3037

Revised Date

2015-03-24

DOI Link

https://doi.org/

Last Page

3043

CLC

TP391.9

Recommended Citation

Yuan Xuemin, Cao Kecai. Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory[J]. Journal of System Simulation, 2015, 27(12): 3037-3043.