Bilinear modelling and attitude control of a quadrotor

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dc.contributor.authorSeah, Chee Hwee
dc.contributor.authorInyang, Isonguyo J.
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2018-01-18T15:54:00Z
dc.date.available2018-01-18T15:54:00Z
dc.date.issued2018-01-11
dc.description.abstractThe 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.identifier.citationSeah CW, Inyang IJ, Whidborne JF. (2017) Bilinear modelling and attitude control of a quadrotor, IFAC-PapersOnLine, Volume 50, Issue 2, December 2017, pp. 193-198en_UK
dc.identifier.issn2405-8963
dc.identifier.urihttp://dx.doi.org/10.1016/j.ifacol.2017.12.035
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/12907
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectQuadrotoren_UK
dc.subjectBilinear modellingen_UK
dc.subjectAttitude controlen_UK
dc.subjectBilinear PDen_UK
dc.titleBilinear modelling and attitude control of a quadrotoren_UK
dc.typeArticleen_UK

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