Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework
In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inp...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2024/5552493 |
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| Summary: | In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed-loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in-house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality-based control law. |
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| ISSN: | 1687-9619 |