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A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control

Weijie Ren, Haowen Liu, Guang-Ren Duan

Abstract

This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control.

A Unidirectionally Connected FAS Approach for 6-DOF Quadrotor Control

Abstract

This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The framework systematically converts underactuated quadrotor dynamics into a UC-FAS model, unifying the existing different FAS transformation ways. By eliminating estimation of the high-order derivatives of control inputs, a drawback of current methods, the UC-FAS model simplifies controller design and enables direct eigenstructure assignment for closed-loop dynamics. Simulations demonstrate precise 6-DOF tracking performance. This work bridges theoretical FAS approach advancements with practical implementation needs, offering a standardized paradigm for nonlinear quadrotor control.
Paper Structure (13 sections, 3 theorems, 45 equations, 2 figures)

This paper contains 13 sections, 3 theorems, 45 equations, 2 figures.

Table of Contents

  1. Introduction
  2. System model and preliminaries
  3. Treating dynamic equations (\ref{['a2']}) and (\ref{['a3']})
  4. Treating dynamic equation (\ref{['a1']})
  5. The constrained UC-FAS model
  6. Sub-stabilization controller design
  7. Sub-stabilizing subsystem (\ref{['eq:UC-FAS_0']})
  8. Sub-stabilizing subsystem (\ref{['eq:UC-FAS_1']})
  9. Sub-stabilizing subsystem (\ref{['eq:UC-FAS_2']})
  10. Sub-stabilization synthesis
  11. Tracking control
  12. Simulation
  13. Conclusion

Key Result

Theorem 1

System eq:UC-FAS_0-eq:UC-FAS_2 is the UC-FAS model for the quadrotor dynamics a1-a3, subject to the constraints b1, b2, and eq:constraint u0-eq:constraint u2.

Figures (2)

  • Figure 1: Tracking control follows a 3-D spiral trajectory.
  • Figure 2: Tracking responses for 6-DOF.

Theorems & Definitions (5)

  • Remark 1
  • Theorem 1
  • Remark 2
  • Theorem 2
  • Lemma 1: Duan_IJSS_VII_Controllability