A novel flight contorl algorithm for multicopters

Date

2016-01-01

Author

Tekinalp, Ozan
Kumbasar, Sarper

Metadata

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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.

Subject Keywords

Attitude parametrization, Automatic flight control, Multicopter, Nonlinear control, Vertical takeoff and landing

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85013649702&origin=inward
https://hdl.handle.net/11511/106516

Conference Name

30th Congress of the International Council of the Aeronautical Sciences, ICAS 2016

Collections

Department of Aerospace Engineering, Conference / Seminar

Citation Formats

O. Tekinalp and S. Kumbasar, “A novel flight contorl algorithm for multicopters,” presented at the 30th Congress of the International Council of the Aeronautical Sciences, ICAS 2016, Daejeon, Güney Kore, 2016, Accessed: 00, 2023. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85013649702&origin=inward.