Bilinear modelling and attitude control of a quadrotor

Show simple item record Seah, Chee Hwee Inyang, Isonguyo J. Whidborne, James F. 2018-01-18T15:54:00Z 2018-01-18T15:54:00Z 2018-01-11
dc.identifier.citation Seah CW, Inyang IJ, Whidborne JF. (2017) Bilinear modelling and attitude control of a quadrotor, IFAC-PapersOnLine, Volume 50, Issue 2, December 2017, pp. 193-198 en_UK
dc.identifier.issn 2405-8963
dc.description.abstract The design of a bilinear controller for a quadrotor and its subsequent stability and performance are presented. A Carleman bilinearization technique is applied to the the nonlinear equations of motion of a quadrotor to obtain a bilinear model which is used as the basis for a bilinear PD controller design. For comparison purposes, a linear model of the quadrotor is also developed and used as the basis for PD controller design. Results for a transient simulation of the proposed BPD controller are presented and compared with that of the PD controller. The results show that the bilinear PD controller gives more improved responses over a broader operating range with respect to stability and performance compared to the PD controller. en_UK
dc.language.iso en en_UK
dc.publisher Elsevier en_UK
dc.rights Attribution-NonCommercial-NoDerivatives 4.0 International *
dc.rights.uri *
dc.subject Quadrotor en_UK
dc.subject Bilinear modelling en_UK
dc.subject Attitude control en_UK
dc.subject Bilinear PD en_UK
dc.title Bilinear modelling and attitude control of a quadrotor en_UK
dc.type Article en_UK

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