A novel flight control algorithm for multicopters

Date

2016-09-29

Author

Tekinalp, Ozan

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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 to-go 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

Automatic flight control, Nonlinear control, Attitude parametrization, Vertical take-off and landing, Multicopter

URI

http://icas2016.com/
https://hdl.handle.net/11511/78619

Conference Name

Congress of the International Council of the Aeronautical Sciences, 2016

Collections

Unverified, Conference / Seminar

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Citation Formats

O. Tekinalp, “A novel flight control algorithm for multicopters,” presented at the Congress of the International Council of the Aeronautical Sciences, 2016, Korea, 2016, Accessed: 00, 2021. [Online]. Available: http://icas2016.com/.