Attitude Control of VTOL Hexrotor Aircraft Based on Lyapunov Theory

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.

Key words: hexrotor, attitude control, quaternion, UAV

CLC Number:

TP391.9

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

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